WO2016147360A1 - Drive machine service life evaluation device and drive machine service life evaluation method - Google Patents

Drive machine service life evaluation device and drive machine service life evaluation method Download PDF

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Publication number
WO2016147360A1
WO2016147360A1 PCT/JP2015/058130 JP2015058130W WO2016147360A1 WO 2016147360 A1 WO2016147360 A1 WO 2016147360A1 JP 2015058130 W JP2015058130 W JP 2015058130W WO 2016147360 A1 WO2016147360 A1 WO 2016147360A1
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WO
WIPO (PCT)
Prior art keywords
life
unit
formula
evaluation
drive
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PCT/JP2015/058130
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French (fr)
Japanese (ja)
Inventor
裕司 五十嵐
丈昌 荒川
佐野　修也
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2015/058130 priority Critical patent/WO2016147360A1/en
Priority to JP2016516105A priority patent/JP5968579B1/en
Priority to KR1020177010691A priority patent/KR20170046806A/en
Priority to CN201580058669.9A priority patent/CN107076646A/en
Priority to TW105107896A priority patent/TWI624652B/en
Publication of WO2016147360A1 publication Critical patent/WO2016147360A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring

Definitions

  • the present invention relates to a drive life evaluation apparatus and a drive life evaluation method for evaluating the life of a drive having a motor and a load device.
  • a drive machine having a motor and a load device has a lifetime because it deteriorates over time.
  • the life of a driving machine is evaluated by evaluating the state quantity of driving of the driving machine and the integrated value of driving.
  • Patent Document 1 describes that the life is evaluated by evaluating the relationship between the torque command or thrust command during motor driving and the motor speed.
  • Patent Document 2 describes that the life is evaluated by evaluating an integrated value of driving of an actuator.
  • JP 2009-068950 A Japanese Patent No. 5247579
  • Patent Document 1 it is possible to easily check changes from the initial coefficient of viscous friction and static friction based on the relationship between the torque command or thrust command and the motor speed. Evaluate whether or not.
  • the viscous friction coefficient and the static friction change depending on the driving environment and driving conditions such as temperature.
  • Patent Document 2 evaluates how much the driving machine is approaching the end of life from the difference between the integrated value of driving of the actuator and the integrated value of driving when the actuator is predicted to reach the end of its life.
  • the integrated value of driving when the actuator reaches the end of its life varies depending on the driving environment and driving conditions.
  • a relationship between the evaluation values and the lifetimes is prepared for each driving environment and driving conditions. It is difficult to do. For this reason, it is difficult to evaluate the life using the difference between the viscous friction coefficient and the static friction coefficient or the integrated value of the actuator drive and the integrated value of the drive when the actuator is predicted to reach the end of its life.
  • the present invention has been made in view of the above, and an object of the present invention is to obtain a drive life evaluation device that can easily evaluate the life of a drive in various drive environments and drive conditions.
  • the present invention is a drive life evaluation device for evaluating the life of a drive having a motor and a load device, and is a life formula used for the evaluation of the life.
  • An input unit that receives the input, and a control unit that obtains an operation state quantity of the drive unit based on a feedback value output from the drive unit, and causes the feedback value to follow an operation target value input from the outside,
  • An evaluation processing unit that acquires the operation state quantity from the control unit, executes the operation of the life formula using the operation state quantity, and evaluates the life based on a result of the operation.
  • FIG. 3 is a block diagram showing the configuration of the drive unit life evaluation apparatus according to the first embodiment.
  • Figure showing the life type input screen The flowchart which shows the process of the control part which concerns on Embodiment 1.
  • the figure which shows the outline of the drive machine life evaluation device The block diagram which shows the structure of the drive machine lifetime evaluation apparatus which concerns on Embodiment 2.
  • FIG. 4 is a block diagram showing a configuration of a drive machine life evaluation apparatus according to Embodiment 4.
  • the flowchart which shows the addition process of the evaluation process part which concerns on Embodiment 4, and a display part
  • the block diagram which shows the structure of the drive machine lifetime evaluation apparatus which concerns on Embodiment 5.
  • FIG. The flowchart which shows the process of the control part which concerns on Embodiment 5.
  • FIG. The block diagram which shows the structure of the drive machine lifetime evaluation apparatus which concerns on Embodiment 6.
  • FIG. 1 is a block diagram showing the configuration of the drive unit life evaluation apparatus 100.
  • the drive machine life evaluation apparatus 100 is electrically connected to the drive machine 200 and the external apparatus 300 and evaluates the life of the drive machine 200.
  • the driving machine 200 includes a motor 201 and a load device 202 connected to the motor.
  • the external device 300 assists the control of the driving machine 200 and inputs an operation target value of the driving machine 200 to the driving machine life evaluation apparatus 100.
  • the driving machine is not limited to the configuration having the motor 201 and the load device 202.
  • the input of the operation target value of the driving machine 200 is not limited to the input from the external device 300, and may be input from the input unit provided in the driving machine life evaluation apparatus 100 or the driving machine 200.
  • the operation target value is a target value for the rotational position of the rotor in the motor 201 or a target value for the drive position of the mover of the load device 202, other parameters may be used.
  • the drive unit life evaluation apparatus 100 includes an input unit 104 that receives an input, a control unit 105 that controls the drive unit 200, and an evaluation processing unit 106 that evaluates the lifetime of the drive unit 200.
  • the input unit 104 is a touch panel having a display function in addition to the input reception function.
  • the input unit 104 is not limited to a touch panel, and may be another device such as a mouse or a keyboard that allows a user to input an operation.
  • the drive unit life evaluation apparatus 100 may include a display unit that displays an image separately from the input unit 104.
  • the input unit 104 receives an input of a life formula used for evaluating the life of the driving machine 200.
  • a calculation formula including the operation state quantity of the driving machine 200 as a parameter, a life threshold value, and an equation including an equal sign or an inequality sign that connects the calculation formula and the life threshold value are used.
  • the life formula may be a formula in which the right side and the left side are both calculated as a calculation formula and the right side and the left side are connected with an equal sign or an inequality sign.
  • the life threshold value is a value associated with a failure of the driving machine 200, for example.
  • the life formula means that if the equality or inequality sign is satisfied, the drive unit 200 has not yet reached the end of life, but if the equality or inequality sign is satisfied, it may mean that the drive unit 200 has reached the end of life. Good.
  • a calculation formula representing the rated life presented by the manufacturer of each member can be used for each member to which a load is applied such as a ball screw or a bearing.
  • the input unit 104 outputs the received information to the evaluation processing unit 106.
  • the control unit 105 controls the operation of the motor 201.
  • the control unit 105 acquires an operation target value from the external device 300.
  • the control unit 105 acquires a feedback value output from the driving machine 200.
  • the feedback value is the rotational position of the rotor in the motor 201 or the drive position of the mover of the load device 202.
  • the rotational position of the rotor in the motor 201 or the driving position of the mover of the load device 202 can be detected by a detector arranged inside the driving machine 200.
  • the control unit 105 calculates a difference between the operation target value and the feedback value, and calculates a driving current amount according to the calculated difference.
  • the control unit 105 changes the driving current amount in the direction in which the feedback value becomes larger and outputs it to the motor 201.
  • the feedback value is larger than the operation target value
  • the feedback value The drive current amount is changed in the direction in which the current becomes smaller, and is output to the motor 201. That is, the control unit 105 adjusts the driving current output to the motor 201 to cause the feedback value of the driving machine 200 to follow the operation target value input from the external device 300.
  • the control unit 105 calculates the operation state amount of the driving machine 200 based on the acquired feedback value.
  • the amount of operation state includes the motor speed V, the torque of the rotor of the motor 201 (torque Trq), the motor inertia, the feedback value of the position of the mover of the load device 202 (position feedback P), and the number of times of positioning of the mover of the load device 202 ( The number of times of positioning Pt), the vibration amplitude (vibration amplitude Vib) of the mover of the load device 202, the frictional force (frictional force Fic) generated in the driving machine 200, the encoder temperature t in the driving machine 200, and the amplifier power supply in the driving machine 200 It is at least one of the ON times At.
  • the control unit 105 outputs the acquired operation state quantity to the evaluation processing unit 106.
  • the evaluation processing unit 106 includes a life formula calculation unit 107 and a life formula evaluation unit 108.
  • the life formula calculation unit 107 acquires the operation state quantity output from the control unit 105, and executes the calculation of the life formula input to the input unit 104 using the operation state quantity. Specifically, the life formula calculation unit 107 calculates by substituting the operation state quantity into the calculation formula of one side or both sides included in the life formula.
  • the life formula calculation unit 107 outputs the calculation result to the life formula evaluation unit 108.
  • the life formula evaluation unit 108 acquires the result of the life formula calculation from the life formula calculation unit 107, and evaluates the life based on the result of the calculation.
  • the life formula evaluation unit 108 compares the calculation result of the calculation formula with the calculation result of the life threshold value or the other calculation formula, whether the life formula is satisfied, that is, the relationship between the two is input, etc. Evaluate whether or not the relationship of issue or inequality is satisfied.
  • FIG. 2 is a diagram showing a life-type input screen 400.
  • the input screen 400 is displayed on a touch panel that also functions as the input unit 104.
  • the input screen 400 may be displayed on a display provided in the other device.
  • the input screen 400 is an input screen for accepting an input of a life formula including a calculation formula, a life threshold, and an equal sign or an inequality sign that connects the calculation formula and the life threshold.
  • the input screen 400 includes a calculation formula input unit 401 that receives an input of a calculation formula, a life threshold value input unit 403 that receives an input of a life threshold value, and an equal sign inequality sign that receives an input of an equal sign or an inequality sign that connects the calculation formula and the life threshold value
  • An input unit 402 and a transmission button 404 for transmitting the input life formula to the processor 102 are provided.
  • the input screen for accepting the input of the life formula is different from the form of the input screen 400, and for example, in the life threshold value input unit 403 Instead, a form having a second calculation formula input unit is used.
  • the calculation formula is a formula with the operating state quantity of the driving machine 200 that can be obtained based on the feedback value output from the driving machine 200 as a variable.
  • the input screen 400 displays operation state quantities that can be used in the calculation formula. If the input calculation formula includes an operation state quantity that cannot be used, an input error occurs.
  • the process of the control unit 105 includes a process of controlling the motor 201 and a process of calculating an operation state quantity and outputting it to the evaluation processing unit 106.
  • FIG. 3 is a flowchart showing processing of the control unit 105 according to the first embodiment.
  • the control unit 105 acquires the operation target value from the external device 300 (step S11).
  • the control unit 105 acquires a feedback value output from the driving machine 200 (step S12).
  • the control part 105 calculates
  • the control unit 105 outputs the operation state quantity obtained in step S13 to the evaluation processing unit 106 (step S14).
  • the control unit 105 calculates a driving current to be passed through the motor 201 based on the feedback value of the driving machine 200 and the input operation target value, and outputs the calculated driving current to the motor 201 for driving.
  • the feedback value of the machine 200 is made to follow the input operation target value (step S15).
  • step S15 may be performed before step S13 and step S14, or may be performed between step S13 and step S14.
  • FIG. 4 is a flowchart showing the processing of the evaluation processing unit 106 according to the first embodiment, that is, the flowchart showing the processing of the life formula calculating unit 107 and the life formula evaluating unit 108.
  • FIG. 5 is a flowchart showing the life evaluation process according to the first embodiment, and shows in detail an example of the specific process of step S23 in the flowchart of FIG.
  • the input unit 104 performs processing for receiving an input of a life formula used for evaluating the life of the driving machine 200.
  • the input unit 104 outputs the life formula that has received the input to the evaluation processing unit 106.
  • the life formula is described as a case where the calculation formula includes the motor speed and the number of times of positioning of the mover. The same applies to the following embodiments.
  • the life formula calculation unit 107 acquires a life formula including the motor speed and the number of times of positioning of the mover in the calculation formula received by the input unit 104 (step S21).
  • the lifetime formula calculating unit 107 acquires the operation state quantity obtained by the control unit 105 in step S13 from the control unit 105 (step S22).
  • the life formula calculation unit 107 executes the calculation of the life formula input to the input unit 104 using the motor speed and the number of times of positioning of the mover among the obtained operation state quantities, and the life formula evaluation unit 108 The lifetime is evaluated based on the result of the calculation by the expression calculation unit 107 (step S23).
  • the life formula calculation unit 107 calculates the calculation formula input to the input unit 104 using the motor speed and the number of times of positioning of the mover among the obtained operation state quantities (step S31). Specifically, the motor speed and the number of times of positioning the mover are substituted into the calculation formula and calculated. Thereafter, the life formula calculation unit 107 outputs the calculation formula calculation result to the life formula evaluation unit 108.
  • the life formula evaluation unit 108 acquires the calculation result of the calculation formula from the life formula calculation unit 107, compares the calculation result of the calculation formula with the life threshold value input to the input unit 104, and obtains a relationship between the two ( Step S32). The life formula evaluation unit 108 determines whether or not the relationship obtained in step S32 satisfies the equal sign or the inequality sign input to the input unit 104 (step S33).
  • step S34 If the relationship between the two obtained in step S32 satisfies the equal sign or inequality sign input to the input unit 104 (Yes in step S33), that is, if the life formula is satisfied, the life formula evaluation unit 108 200 evaluates that the lifetime has not reached (step S34), and ends the flow. On the other hand, when the relationship between the two obtained in step S32 does not satisfy the equal sign or the inequality sign input to the input unit 104 (No in step S33), that is, the life formula is not satisfied. The drive device 200 is evaluated as having reached the end of its life (step S35), and the flow is terminated.
  • the life formula when the life formula is satisfied, the life is not reached (the driving device 200 has not passed the life), and when the life formula is not satisfied, the life is reached ( However, by reversing the inequality sign of the life formula, the handling when the life formula is established and when the life formula is not established may be reversed. it can.
  • the drive unit life evaluation apparatus 100 receives an input of a life formula from the input unit 104, and calculates the life formula that has received the input using the operation state quantity of the drive unit 200, so that the drive unit 200 has reached the end of its life. Evaluate whether or not. For this reason, the drive machine life evaluation apparatus 100 can respond to changes in the drive environment and drive conditions of the drive machine 200, and can easily evaluate the life of the drive machine 200 in various drive environments and drive conditions.
  • the driving device life evaluation apparatus 100 uses, for example, a life formula representing a rated life presented by a manufacturer of each member for each member to which a load such as a ball screw or a bearing included in the driving device 200 is applied.
  • a life formula representing a rated life presented by a manufacturer of each member for each member to which a load such as a ball screw or a bearing included in the driving device 200 is applied There is an advantage that the life can be evaluated. Moreover, it is not restricted to this, The life type
  • the drive machine life evaluation apparatus 100 does not need to implement the drive environment and drive conditions of the drive machine 200, and the mathematical expression or algorithm used for the life evaluation of the drive mechanism, and therefore the drive machine 200 can be changed as needed. There is an advantage that it is possible to evaluate the lifespan.
  • the configuration disclosed in the first embodiment can be applied as appropriate in the following embodiments.
  • FIG. 6 is a diagram showing an outline of the drive unit life evaluation apparatus 100.
  • the drive unit life evaluation apparatus 100 includes an input device 101, a processor 102, and a memory 103.
  • As the input device 101 a touch panel, a mouse, or a keyboard is used, but is not limited thereto.
  • the memory 103 stores a control program and an evaluation processing program.
  • the drive life evaluation apparatus 100 realizes the function of the input unit 104 by the input device 101.
  • the drive unit life evaluation apparatus 100 realizes the functions of the control unit 105 and the evaluation processing unit 106 by the processor 102 executing the control program and the evaluation processing program stored in the memory 103, respectively.
  • a plurality of processors and a plurality of memories may cooperate to realize the functions of the control unit 105 and the evaluation processing unit 106, or a system LSI (Large Scale Integration) or a plurality of processing circuits may be connected to the control unit 105 and the evaluation processing.
  • the function of the unit 106 may be realized. Moreover, you may implement
  • FIG. FIG. 7 is a block diagram showing the configuration of the drive unit life evaluation apparatus 110 according to the second embodiment.
  • the drive machine life evaluation apparatus 110 uses the same code group as the drive machine life evaluation apparatus 100 in the same configuration as the drive machine life evaluation apparatus 100, and a detailed description thereof is omitted.
  • the drive machine life evaluation apparatus 110 includes an input unit 114 that receives an input, a control unit 115 that controls the drive machine 200, and an evaluation processing unit 106.
  • the input unit 114 has a function of outputting a life formula that has received an input to the control unit 115.
  • the control unit 115 has a function of extracting an operation state quantity included in the calculation of the life formula that has received an input, and outputting the extracted operation state quantity to the evaluation processing unit 106. That is, the control unit 115 has a function of outputting only the operation state quantity necessary for the calculation of the life formula that has received the input to the evaluation processing unit 106.
  • the evaluation processing unit 106 acquires only the operation state quantity extracted by the control unit 115 from the control unit 115.
  • FIG. 8 is a flowchart showing a part of the process of the control unit 115 according to the second embodiment.
  • the control unit 115 executes the process shown in FIG. 8 instead of step S14 executed by the control unit 105 according to the first embodiment.
  • the input unit 114 performs processing for receiving an input of a life formula used for evaluating the life of the driving machine 200.
  • the input unit 114 outputs the life formula that has received the input to the control unit 115 and the evaluation processing unit 106.
  • the control unit 115 acquires a life formula including the motor speed and the number of times of positioning of the mover in the calculation formula received by the input unit 114 (step S41).
  • the control unit 115 extracts the operation state amount included in the acquired life formula, in this example, the motor speed and the number of times of positioning of the mover from the acquired operation state amount (step S42).
  • the control unit 115 outputs the operation state quantity extracted in step S42 to the evaluation processing unit 106 (step S43).
  • the control unit 115 acquires life formula information and performs an extraction process based on the life formula information.
  • the number is decreasing.
  • the amount of operation state output from the control unit 115 to the evaluation processing unit 106 is reduced to only that included in the calculation of the life formula. For this reason, the drive unit lifetime evaluation apparatus 110 can reduce the number of processes and the usage amount of the memory 103 in the lifetime evaluation.
  • FIG. 9 is a block diagram illustrating a configuration of the drive machine life evaluation apparatus 120 according to the third embodiment.
  • the drive machine life evaluation apparatus 120 uses the same code group as the drive machine life evaluation apparatus 100 in the same configuration as the drive machine life evaluation apparatus 100, and a detailed description thereof is omitted.
  • the drive machine life evaluation apparatus 120 includes an input unit 124 that receives an input, a control unit 125 that controls the drive machine 200, and an evaluation processing unit 106.
  • the input unit 124 controls the command to extract the operation state quantity included in the calculation of the life formula that has received the input, and to output the extracted operation state quantity to the evaluation processing unit 106.
  • a function of outputting to the unit 125 That is, the input unit 124 has a function of instructing the control unit 125 to output only the operation state quantity necessary for the calculation of the life formula that has received the input to the evaluation processing unit 106.
  • the control unit 125 has a function of acquiring a command output from the input unit 124 and outputting only an operation state quantity based on the command to the evaluation processing unit 106.
  • the evaluation processing unit 106 acquires, from the control unit 125, only the operation state quantity based on the command from the input unit 124, that is, only the operation state quantity necessary for the calculation of the life formula.
  • FIG. 10 is a flowchart showing a part of the process of the control unit 125 according to the third embodiment.
  • the control unit 125 executes the process shown in FIG. 10 instead of the process of step S14 executed by the control unit 105 according to the first embodiment.
  • the input unit 124 performs a process of receiving an input of an operation target value of the driving machine 200 and a life formula used for evaluation of the life.
  • the input unit 124 outputs the life formula that has received the input to the evaluation processing unit 106.
  • the input unit 124 extracts an operation state quantity included in the life formula that has received the input, and outputs a command to the control unit 125 to output the extracted operation state quantity to the evaluation processing unit 106.
  • the control unit 125 acquires a command output from the input unit 124 (step S51).
  • the control unit 125 outputs the operation state quantity extracted based on the command in step S51 to the evaluation processing unit 106 (step S43).
  • the drive unit life evaluation apparatus 120 extracts the operation state quantity based on the life formula information input from the input unit 124, so that the evaluation processing unit 106 is transmitted from the control unit 125 in the same manner as the drive unit life evaluation apparatus 110.
  • the number of operating state quantities output to is reduced to only those included in the life formula calculation. For this reason, the drive unit lifetime evaluation apparatus 120 can reduce the number of processes and the usage amount of the memory 103 in the lifetime evaluation.
  • FIG. 11 is a block diagram showing the configuration of the drive machine life evaluation apparatus 130 according to the fourth embodiment.
  • the drive machine life evaluation apparatus 130 uses the same code group as that of the drive machine life evaluation apparatus 100 in the same configuration as the drive machine life evaluation apparatus 100, and a detailed description thereof is omitted.
  • the drive unit life evaluation apparatus 130 includes an input unit 104, a control unit 105, an evaluation processing unit 136 that evaluates the life of the drive unit 200, a storage unit 138, and a display unit 139.
  • the evaluation processing unit 136 includes a life formula calculation unit 137 and a life formula evaluation unit 108.
  • the life formula calculation unit 137 has a function of storing the result of the life formula calculation in the storage unit 138.
  • the storage unit 138 stores the result of the life expression calculation by the life expression calculation unit 137 so that it can be output.
  • the display unit 139 outputs and displays the stored calculation result.
  • the display unit 139 has a function of outputting and displaying a plurality of stored calculation results.
  • the drive unit life evaluation device 130 realizes the function of the storage unit 138 by the memory 103.
  • the drive unit life evaluation apparatus 130 realizes the function of the display unit 139 by the display function of the input device 101.
  • FIG. 12 is a flowchart showing additional processing of the evaluation processing unit 136 and the display unit 139 according to the fourth embodiment.
  • the evaluation processing unit 136 and the display unit 139 execute the process shown in FIG. 12 after the process of step S23 executed by the evaluation processing unit 106 according to the first embodiment.
  • the life formula calculation unit 137 included in the evaluation processing unit 136 stores the result of the calculation of the life formula obtained by the life formula calculation unit 137 in the storage unit 138 (step S61).
  • the storage unit 138 stores the life formula calculation result obtained by the life formula calculation unit 137 so that it can be output.
  • the display unit 139 outputs and displays the calculation result stored in the storage unit 138 (step S62). In step S62, the display unit 139 may output and display a plurality of calculation results stored in the storage unit 138.
  • the life formula calculation unit 137 causes the life formula calculation unit 137 to store the calculation result of the life formula in the storage unit 138, and the display unit 139 outputs the calculation result. Displayed. For this reason, the drive machine lifetime evaluation apparatus 130 can make a user visualize the result of the calculation of a lifetime formula. In addition, by displaying the results of the calculation of the plurality of life formulas stored in the storage unit 138 on the display unit 139, a change in the result of the calculation of the life formulas can be visualized by the user. By displaying the result of the calculation, the user can predict when the lifetime of the driving machine 200 will be reached.
  • FIG. FIG. 13 is a block diagram showing the configuration of the drive unit life evaluation apparatus 140 according to the fifth embodiment.
  • the drive unit life evaluation device 140 uses the same code group as that of the drive unit life evaluation device 100 in the same configuration as the drive device life evaluation device 100, and a detailed description thereof is omitted.
  • the drive unit life evaluation apparatus 140 includes an input unit 104, a control unit 145 that controls the drive unit 200, an evaluation processing unit 146 that evaluates the lifetime of the drive unit 200, and a warning device 149. In the fifth embodiment, the case where the warning device 149 is provided in the drive unit life evaluation apparatus 140 will be described.
  • the warning device 149 is not limited to the case where the warning device 149 is provided in the drive unit life evaluation apparatus 140, and may be provided in the drive unit 200.
  • the warning device 149 can be, for example, a device that gives a warning by light emission or a device that gives a warning by generating sound, but is not limited thereto.
  • the control unit 145 obtains a life evaluation signal from the life formula evaluation unit 148, that is, the result of the life formula evaluation evaluated by the life formula evaluation unit 148, and based on the obtained evaluation result Has a function to issue a warning. That is, the control unit 145 has a function of causing the warning device 149 to issue a warning to the effect that the acquired evaluation result has a content that evaluates that the drive unit 200 has reached the end of its life.
  • the evaluation processing unit 146 includes a life formula calculation unit 107 and a life formula evaluation unit 148.
  • the life formula evaluation unit 148 has a function of outputting a life evaluation signal to the control unit 145 in addition to the function of the life formula evaluation unit 108.
  • FIG. 14 is a flowchart showing processing of the control unit 145 according to the fifth embodiment.
  • the control unit 145 executes the process shown in FIG. 14 after the process of step S23 executed in the process of the control unit 105 according to the first embodiment.
  • the life formula evaluation unit 148 outputs a life evaluation signal to the control unit 145.
  • the control unit 145 acquires a life evaluation signal from the life formula evaluation unit 148 (step S71).
  • the control unit 145 determines the result of evaluation of the acquired life formula (step S72). Specifically, the control unit 145 determines whether or not the driving machine 200 has reached the end of its life. When the controller 145 switches from a state that satisfies the life formula to a state that does not satisfy the life formula, or switches from a state that does not satisfy the life formula to a state that satisfies the life formula, the drive unit 200 has reached the end of its life. to decide. When the control unit 145 determines that the acquired life evaluation signal has a content that evaluates that the drive unit 200 has reached the end of life (Yes in step S72), the control unit 145 indicates that the drive unit 200 has reached the end of its life. Is issued to the warning device 149 (step S73).
  • the warning device 149 issues a warning that the drive unit 200 has reached the end of its life due to the generation of light emission or sound.
  • the control unit 145 determines that the result of the operation of the acquired life formula is content that evaluates that the drive unit 200 has not reached the end of life (No in step S72), step S73 is not performed. End the flow.
  • the control unit 145 issues a warning from the warning device 149. For this reason, the drive machine life evaluation apparatus 140 can make a user recognize immediately by warning that the drive machine 200 has reached the end of its life. Further, the drive unit life evaluation device 140 can prompt the user to replace the member of the drive unit 200 that has reached the end of its life at an appropriate time by outputting a warning.
  • the drive unit life evaluation device 140 issues a warning from the warning unit 149 by the control unit 145, but may stop the drive unit 200 in addition to the warning.
  • FIG. 15 is a block diagram showing a configuration of a drive machine life evaluation apparatus 150 according to the sixth embodiment.
  • the drive unit life evaluation apparatus 150 uses the same code group as that of the drive unit life evaluation apparatus 100 in the same configuration as the drive unit life evaluation apparatus 100, and a detailed description thereof is omitted.
  • the drive unit life evaluation apparatus 150 includes an input unit 104, a control unit 155 that controls the drive unit 200, an evaluation processing unit 156 that evaluates the lifetime of the drive unit 200, a storage unit 161, and a display unit 162.
  • control unit 155 acquires the result of the life formula evaluation by the life formula evaluation unit 158 from the life formula evaluation unit 158, and stores the operation state amount based on the acquired evaluation result. Has the function of saving. That is, the control unit 155 stores, in the storage unit 161, the amount of operation state when the life has reached the end when the acquired evaluation result is content that evaluates that the drive unit 200 has reached the end of its life. It has a function to make it.
  • the evaluation processing unit 156 includes a life formula calculation unit 157 and a life formula evaluation unit 158.
  • the life formula calculation unit 157 has a function of storing the result of the life formula calculation in the storage unit 161.
  • the life formula evaluation unit 158 has a function of outputting the result of the life formula evaluation to the control unit 155 in addition to the function of the life formula evaluation unit 108.
  • the storage unit 161 stores the result of the life expression calculation by the life expression calculation unit 157 and the operation state quantity by the control unit 155 so as to be output.
  • the display unit 162 outputs and displays the stored calculation result or operation state quantity.
  • the display unit 162 has a function of outputting and displaying a plurality of stored calculation results or operation state quantities.
  • the drive unit life evaluation apparatus 150 realizes the function of the storage unit 161 by the memory 103.
  • the drive unit life evaluation apparatus 150 realizes the function of the display unit 162 by the display function of the input device 101.
  • FIG. 16 is a flowchart showing processing of the control unit 155 and the display unit 162 according to the sixth embodiment.
  • the control unit 155 and the display unit 162 execute the process shown in FIG. 16 after step S23 executed in the process of the evaluation processing unit 106 according to the first embodiment.
  • the life formula evaluation unit 158 outputs the result of the life formula evaluation to the control unit 155.
  • the control unit 155 acquires the result of the life formula evaluation from the life formula evaluation unit 158 (step S71).
  • the control unit 155 determines the result of evaluation of the acquired life formula (step S72).
  • the controller 155 determines that the result of the operation of the acquired life formula is the content that evaluates that the drive unit 200 has reached the end of its life, that is, from the state that satisfies the life formula to the state that does not satisfy
  • the drive 200 reaches the end of the life, that is, from the state where the life formula is satisfied.
  • the operation state quantity at the time of switching to a state that does not satisfy or when switching from a state that does not satisfy the life formula to a state that satisfies the state is stored in the storage unit 161 (step S81).
  • the display unit 162 outputs and displays the operation state quantity stored in the storage unit 161.
  • the control unit 155 determines that the result of the operation of the acquired life formula is content that evaluates that the driving machine 200 has not reached the end of life (No in step S72)
  • the control unit 155 does not perform step S81, End the flow.
  • the display unit 162 may output and display a plurality of operation state quantities stored in the storage unit 161.
  • the drive unit life evaluation device 150 When it is determined by the control unit 155 that the result of the life formula evaluation by the life formula evaluation unit 158 is the content that evaluates that it has reached the life, the drive unit life evaluation device 150 operates at that time. The amount is stored in the storage unit 161 and the calculation result stored in the display unit 162 is displayed. For this reason, the drive machine lifetime evaluation apparatus 150 can make a user visualize the operation state quantity at the time of reaching the lifetime. In addition, by displaying a plurality of operation state quantities at the end of the life stored in the storage unit 161 on the display unit 162 at the same time, the operation state quantities at the end of the life can be visualized by the user in a comparable manner. it can. In this case, the user can predict the life of the driving machine 200 more accurately.
  • the drive unit lifetime evaluation apparatus 150 stops the drive unit 200 in addition to outputting the operation state quantity to the storage unit 161. Also good.
  • the configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.
  • 100, 110, 120, 130, 140, 150 Drive life evaluation device 101 input device, 102 processor, 103 memory, 104, 114, 124 input unit, 105, 115, 125, 145, 155 control unit, 106, 136 , 146, 156 Evaluation processing unit, 107, 137, 157 Life formula calculation unit, 108, 148, 158 Life formula evaluation unit, 138, 161 storage unit, 139, 162 display unit, 149 warning device, 200 drive machine, 201 motor , 202 load device, 300 external device, 400 input screen, 401 formula input unit, 402 equal sign inequality sign input unit, 403 life threshold value input unit, 404 send button.

Abstract

A drive machine service life evaluation device 100 for evaluating the service life of a drive machine 200 that has a motor 201 and a load device 202, the device 100 being provided with: an input unit 104 for receiving, as input, a service life equation used in evaluating the service life of the drive machine 200, and an operation target value of the drive machine 200; a control unit 105 for controlling the drive machine 200; and an evaluation processing unit 106 for evaluating the service life of the drive machine 200. The control unit 105 acquires an operation state quantity of the drive machine 200 on the basis of a feedback value outputted from the drive machine 200, and causes the feedback value from the drive machine 200 to follow the inputted operation target value. The evaluation processing unit 106 acquires the operation state quantity from the control unit 105, uses the operation state quantity to execute a calculation of the service life equation inputted to the input unit 104, and evaluates the service life using the result of calculation.

Description

駆動機寿命評価装置及び駆動機寿命評価方法Drive life evaluation apparatus and drive life evaluation method
　本発明は、モータと負荷装置とを有する駆動機の寿命を評価する駆動機寿命評価装置及び駆動機寿命評価方法に関する。 The present invention relates to a drive life evaluation apparatus and a drive life evaluation method for evaluating the life of a drive having a motor and a load device.
　モータと負荷装置とを有する駆動機は、経年劣化するため、寿命がある。従来は、駆動機の駆動の状態量及び駆動の積算値を評価することにより、駆動機の寿命が評価されている。特許文献１には、モータ駆動中のトルク指令もしくは推力指令とモータ速度との関係を評価することにより、寿命を評価することが記載されている。特許文献２には、アクチュエータの駆動の積算値を評価することにより、寿命を評価することが記載されている。 A drive machine having a motor and a load device has a lifetime because it deteriorates over time. Conventionally, the life of a driving machine is evaluated by evaluating the state quantity of driving of the driving machine and the integrated value of driving. Patent Document 1 describes that the life is evaluated by evaluating the relationship between the torque command or thrust command during motor driving and the motor speed. Patent Document 2 describes that the life is evaluated by evaluating an integrated value of driving of an actuator.
特開２００９－０６８９５０号公報JP 2009-068950 A 特許第５２４７５７９号公報Japanese Patent No. 5247579
　特許文献１では、トルク指令もしくは推力指令とモータ速度との関係から、粘性摩擦係数及び静止摩擦の初期からの変化を簡単に確認することを可能にし、この変化から駆動機がどの程度寿命に近づいているかを評価している。しかし、粘性摩擦係数及び静止摩擦は、温度などの駆動環境及び駆動条件により変化する。 In Patent Document 1, it is possible to easily check changes from the initial coefficient of viscous friction and static friction based on the relationship between the torque command or thrust command and the motor speed. Evaluate whether or not. However, the viscous friction coefficient and the static friction change depending on the driving environment and driving conditions such as temperature.
　特許文献２では、アクチュエータの駆動の積算値と、アクチュエータが寿命を迎えると予測されるときの駆動の積算値との差から、駆動機がどの程度寿命に近づいているかを評価している。しかし、アクチュエータが寿命を迎えるときの駆動の積算値は、駆動環境及び駆動条件により変化する。このように、使用環境及び使用条件の変化で変化する評価値を用いて種々の駆動環境及び駆動条件での寿命を評価するために、駆動環境及び駆動条件毎に評価値と寿命の関係を準備するのは困難である。このため、粘性摩擦係数及び静止摩擦係数またはアクチュエータの駆動の積算値と、アクチュエータが寿命を迎えると予測されるときの駆動の積算値との差を用いて寿命を評価することは困難である。 Patent Document 2 evaluates how much the driving machine is approaching the end of life from the difference between the integrated value of driving of the actuator and the integrated value of driving when the actuator is predicted to reach the end of its life. However, the integrated value of driving when the actuator reaches the end of its life varies depending on the driving environment and driving conditions. In this way, in order to evaluate the life under various driving environments and driving conditions using the evaluation values that change according to changes in the usage environment and usage conditions, a relationship between the evaluation values and the lifetimes is prepared for each driving environment and driving conditions. It is difficult to do. For this reason, it is difficult to evaluate the life using the difference between the viscous friction coefficient and the static friction coefficient or the integrated value of the actuator drive and the integrated value of the drive when the actuator is predicted to reach the end of its life.
　本発明は、上記に鑑みてなされたものであって、種々の駆動環境及び駆動条件で駆動機の寿命を簡単に評価することができる駆動機寿命評価装置を得ることを目的とする。 The present invention has been made in view of the above, and an object of the present invention is to obtain a drive life evaluation device that can easily evaluate the life of a drive in various drive environments and drive conditions.
　上述した課題を解決し、目的を達成するために、本発明は、モータと負荷装置とを有する駆動機の寿命を評価する駆動機寿命評価装置であって、前記寿命の評価に用いられる寿命式の入力を受け付ける入力部と、前記駆動機から出力されるフィードバック値に基づいて前記駆動機の動作状態量を取得し、前記フィードバック値を外部から入力される動作目標値に追従させる制御部と、前記制御部から前記動作状態量を取得し、前記動作状態量を用いて前記寿命式の演算を実行し、前記演算の結果により寿命を評価する評価処理部と、を備えることを特徴とする。 In order to solve the above-described problems and achieve the object, the present invention is a drive life evaluation device for evaluating the life of a drive having a motor and a load device, and is a life formula used for the evaluation of the life. An input unit that receives the input, and a control unit that obtains an operation state quantity of the drive unit based on a feedback value output from the drive unit, and causes the feedback value to follow an operation target value input from the outside, An evaluation processing unit that acquires the operation state quantity from the control unit, executes the operation of the life formula using the operation state quantity, and evaluates the life based on a result of the operation.
　本発明によれば、種々の駆動環境及び駆動条件で駆動機の寿命を簡単に評価することができる駆動機寿命評価装置を得るという効果を奏する。 According to the present invention, there is an effect of obtaining a drive life evaluation device that can easily evaluate the life of a drive in various drive environments and drive conditions.
実施の形態１に係る駆動機寿命評価装置の構成を示すブロック図FIG. 3 is a block diagram showing the configuration of the drive unit life evaluation apparatus according to the first embodiment. 寿命式の入力画面を示す図Figure showing the life type input screen 実施の形態１に係る制御部の処理を示すフローチャートThe flowchart which shows the process of the control part which concerns on Embodiment 1. 実施の形態１に係る評価処理部の処理を示すフローチャートThe flowchart which shows the process of the evaluation process part which concerns on Embodiment 1. 実施の形態１に係る寿命評価処理を示すフローチャートThe flowchart which shows the lifetime evaluation process which concerns on Embodiment 1. 駆動機寿命評価装置の概略を示す図The figure which shows the outline of the drive machine life evaluation device 実施の形態２に係る駆動機寿命評価装置の構成を示すブロック図The block diagram which shows the structure of the drive machine lifetime evaluation apparatus which concerns on Embodiment 2. FIG. 実施の形態２に係る制御部の処理の一部を示すフローチャートThe flowchart which shows a part of process of the control part which concerns on Embodiment 2. FIG. 実施の形態３に係る駆動機寿命評価装置の構成を示すブロック図The block diagram which shows the structure of the drive machine lifetime evaluation apparatus which concerns on Embodiment 3. FIG. 実施の形態３に係る制御部の処理の一部を示すフローチャートThe flowchart which shows a part of process of the control part which concerns on Embodiment 3. FIG. 実施の形態４に係る駆動機寿命評価装置の構成を示すブロック図FIG. 4 is a block diagram showing a configuration of a drive machine life evaluation apparatus according to Embodiment 4. 実施の形態４に係る評価処理部及び表示部の追加処理を示すフローチャートThe flowchart which shows the addition process of the evaluation process part which concerns on Embodiment 4, and a display part 実施の形態５に係る駆動機寿命評価装置の構成を示すブロック図The block diagram which shows the structure of the drive machine lifetime evaluation apparatus which concerns on Embodiment 5. FIG. 実施の形態５に係る制御部の処理を示すフローチャートThe flowchart which shows the process of the control part which concerns on Embodiment 5. FIG. 実施の形態６に係る駆動機寿命評価装置の構成を示すブロック図The block diagram which shows the structure of the drive machine lifetime evaluation apparatus which concerns on Embodiment 6. FIG. 実施の形態６に係る制御部及び表示部の処理を示すフローチャートThe flowchart which shows the process of the control part which concerns on Embodiment 6, and a display part.
　以下に、本発明の実施の形態に係る駆動機寿命評価装置及び駆動機寿命評価方法を図面に基づいて詳細に説明する。なお、以下の実施の形態の説明は、本発明を限定するものではない。 Hereinafter, a drive unit life evaluation apparatus and a drive unit life evaluation method according to an embodiment of the present invention will be described in detail with reference to the drawings. Note that the following description of the embodiment does not limit the present invention.
実施の形態１．
　図１は、駆動機寿命評価装置１００の構成を示すブロック図である。駆動機寿命評価装置１００は、駆動機２００及び外部装置３００と電気的に接続され、駆動機２００の寿命を評価する。実施の形態１では、駆動機２００は、モータ２０１と、モータに連結された負荷装置２０２とを有する。外部装置３００は、駆動機２００の制御を補助するものであり、駆動機２００の動作目標値を駆動機寿命評価装置１００へ入力する。なお、駆動機は、モータ２０１と負荷装置２０２とを有する構成に限定されない。また、駆動機２００の動作目標値の入力は、外部装置３００からの入力に限定されず、駆動機寿命評価装置１００又は駆動機２００に備えられた入力部から入力されてもよい。動作目標値は、モータ２０１内のロータの回転位置の目標値又は負荷装置２０２の可動子の駆動位置の目標値である場合を説明するが、他のパラメータが用いられてもよい。 Embodiment 1 FIG.
FIG. 1 is a block diagram showing the configuration of the drive unit life evaluation apparatus 100. The drive machine life evaluation apparatus 100 is electrically connected to the drive machine 200 and the external apparatus 300 and evaluates the life of the drive machine 200. In the first embodiment, the driving machine 200 includes a motor 201 and a load device 202 connected to the motor. The external device 300 assists the control of the driving machine 200 and inputs an operation target value of the driving machine 200 to the driving machine life evaluation apparatus 100. The driving machine is not limited to the configuration having the motor 201 and the load device 202. Further, the input of the operation target value of the driving machine 200 is not limited to the input from the external device 300, and may be input from the input unit provided in the driving machine life evaluation apparatus 100 or the driving machine 200. Although the operation target value is a target value for the rotational position of the rotor in the motor 201 or a target value for the drive position of the mover of the load device 202, other parameters may be used.
　駆動機寿命評価装置１００は、入力を受け付ける入力部１０４と、駆動機２００を制御する制御部１０５と、駆動機２００の寿命を評価する評価処理部１０６とを備える。実施の形態１では、入力部１０４が入力受付機能以外に表示機能を有するタッチパネルの場合として説明する。入力部１０４は、タッチパネルに限定されず、マウス又はキーボードのようなユーザが操作を入力するその他のデバイスであってもよい。また、駆動機寿命評価装置１００は、入力部１０４と別に画像を表示する表示部を備えていてもよい。入力部１０４は、駆動機２００の寿命の評価に用いられる寿命式の入力を受け付ける。寿命式は、例えば、駆動機２００の動作状態量をパラメータとして含む計算式（寿命演算式）、寿命閾値、及び計算式と寿命閾値とを結ぶ等号又は不等号からなる式が用いられる。寿命式は、右辺と左辺をともに計算式として、右辺と左辺を等号又は不等号で結ぶ式であってもよい。ここで、寿命閾値は、例えば駆動機２００の故障に対応付けられた値である。等号または不等号としては、数式の＜、≦、＝、≠、≧、＞が例示される。寿命式は、等号又は不等号を満たす場合に駆動機２００がまだ寿命を迎えていないことを意味するが、等号又は不等号を満たす場合に駆動機２００が寿命を迎えたことを意味するとしてもよい。寿命式は、例えば、ボールねじ又はベアリングなどの負荷のかかる部材ごとに、各部材の製造元から提示されている定格寿命を表す計算式を用いることができる。入力部１０４は、受け付けた情報を評価処理部１０６へ出力する。 The drive unit life evaluation apparatus 100 includes an input unit 104 that receives an input, a control unit 105 that controls the drive unit 200, and an evaluation processing unit 106 that evaluates the lifetime of the drive unit 200. In Embodiment 1, the case where the input unit 104 is a touch panel having a display function in addition to the input reception function will be described. The input unit 104 is not limited to a touch panel, and may be another device such as a mouse or a keyboard that allows a user to input an operation. Further, the drive unit life evaluation apparatus 100 may include a display unit that displays an image separately from the input unit 104. The input unit 104 receives an input of a life formula used for evaluating the life of the driving machine 200. As the life formula, for example, a calculation formula (life calculation formula) including the operation state quantity of the driving machine 200 as a parameter, a life threshold value, and an equation including an equal sign or an inequality sign that connects the calculation formula and the life threshold value are used. The life formula may be a formula in which the right side and the left side are both calculated as a calculation formula and the right side and the left side are connected with an equal sign or an inequality sign. Here, the life threshold value is a value associated with a failure of the driving machine 200, for example. Examples of the equal sign or inequality sign include <, ≦, =, ≠, ≧,> of the mathematical formula. The life formula means that if the equality or inequality sign is satisfied, the drive unit 200 has not yet reached the end of life, but if the equality or inequality sign is satisfied, it may mean that the drive unit 200 has reached the end of life. Good. As the life formula, for example, a calculation formula representing the rated life presented by the manufacturer of each member can be used for each member to which a load is applied such as a ball screw or a bearing. The input unit 104 outputs the received information to the evaluation processing unit 106.
　制御部１０５は、モータ２０１の動作を制御する。制御部１０５は、外部装置３００から動作目標値を取得する。制御部１０５は、駆動機２００から出力されるフィードバック値を取得する。フィードバック値は、モータ２０１内のロータの回転位置又は負荷装置２０２の可動子の駆動位置である。モータ２０１内のロータの回転位置又は負荷装置２０２の可動子の駆動位置は、駆動機２００の内部に配置した検出器で検出することができる。制御部１０５は、動作目標値とフィードバック値との差を求め、求めた差に応じて駆動用の電流量を算出する。制御部１０５は、フィードバック値が動作目標値よりも小さい場合、フィードバック値が大きくなる方向に駆動用の電流量を変更しモータ２０１に出力し、フィードバック値が動作目標値よりも大きい場合、フィードバック値が小さくなる方向に駆動用の電流量を変更しモータ２０１に出力する。すなわち、制御部１０５は、モータ２０１に出力する駆動用の電流を調整して、駆動機２００のフィードバック値を、外部装置３００から入力される動作目標値に追従させる。 The control unit 105 controls the operation of the motor 201. The control unit 105 acquires an operation target value from the external device 300. The control unit 105 acquires a feedback value output from the driving machine 200. The feedback value is the rotational position of the rotor in the motor 201 or the drive position of the mover of the load device 202. The rotational position of the rotor in the motor 201 or the driving position of the mover of the load device 202 can be detected by a detector arranged inside the driving machine 200. The control unit 105 calculates a difference between the operation target value and the feedback value, and calculates a driving current amount according to the calculated difference. When the feedback value is smaller than the operation target value, the control unit 105 changes the driving current amount in the direction in which the feedback value becomes larger and outputs it to the motor 201. When the feedback value is larger than the operation target value, the feedback value The drive current amount is changed in the direction in which the current becomes smaller, and is output to the motor 201. That is, the control unit 105 adjusts the driving current output to the motor 201 to cause the feedback value of the driving machine 200 to follow the operation target value input from the external device 300.
　制御部１０５は、取得したフィードバック値に基づいて、駆動機２００の動作状態量を算出する。動作状態量は、モータ速度Ｖ、モータ２０１のロータのトルク（トルクＴｒｑ）、モータ慣性、負荷装置２０２の可動子の位置のフィードバック値（位置フィードバックＰ）、負荷装置２０２の可動子の位置決め回数（位置決め回数Ｐｔ）、負荷装置２０２の可動子の振動振幅（振動振幅Ｖｉｂ）、駆動機２００において発生する摩擦力（摩擦力Ｆｉｃ）、駆動機２００内のエンコーダ温度ｔ及び駆動機２００内のアンプ電源ＯＮ時間Ａｔの少なくとも１つである。制御部１０５は、取得した動作状態量を評価処理部１０６へ出力する。 The control unit 105 calculates the operation state amount of the driving machine 200 based on the acquired feedback value. The amount of operation state includes the motor speed V, the torque of the rotor of the motor 201 (torque Trq), the motor inertia, the feedback value of the position of the mover of the load device 202 (position feedback P), and the number of times of positioning of the mover of the load device 202 ( The number of times of positioning Pt), the vibration amplitude (vibration amplitude Vib) of the mover of the load device 202, the frictional force (frictional force Fic) generated in the driving machine 200, the encoder temperature t in the driving machine 200, and the amplifier power supply in the driving machine 200 It is at least one of the ON times At. The control unit 105 outputs the acquired operation state quantity to the evaluation processing unit 106.
　評価処理部１０６は、寿命式演算部１０７と、寿命式評価部１０８とを有する。寿命式演算部１０７は、制御部１０５から出力される動作状態量を取得し、動作状態量を用いて、入力部１０４に入力された寿命式の演算を実行する。具体的には、寿命式演算部１０７は、寿命式に含まれる一辺または両辺の計算式に、動作状態量を代入して計算する。寿命式演算部１０７は、演算の結果を寿命式評価部１０８に出力する。寿命式評価部１０８は、寿命式演算部１０７から寿命式の演算の結果を取得し、演算の結果により寿命を評価する。具体的には、寿命式評価部１０８は、計算式の計算結果と、寿命閾値又は他方の計算式の計算結果とを比較し、寿命式が成立するか、つまり両者の関係が入力された等号又は不等号の関係を満たすか否かを評価する。 The evaluation processing unit 106 includes a life formula calculation unit 107 and a life formula evaluation unit 108. The life formula calculation unit 107 acquires the operation state quantity output from the control unit 105, and executes the calculation of the life formula input to the input unit 104 using the operation state quantity. Specifically, the life formula calculation unit 107 calculates by substituting the operation state quantity into the calculation formula of one side or both sides included in the life formula. The life formula calculation unit 107 outputs the calculation result to the life formula evaluation unit 108. The life formula evaluation unit 108 acquires the result of the life formula calculation from the life formula calculation unit 107, and evaluates the life based on the result of the calculation. Specifically, the life formula evaluation unit 108 compares the calculation result of the calculation formula with the calculation result of the life threshold value or the other calculation formula, whether the life formula is satisfied, that is, the relationship between the two is input, etc. Evaluate whether or not the relationship of issue or inequality is satisfied.
　図２は、寿命式の入力画面４００を示す図である。入力画面４００は、入力部１０４としても機能するタッチパネルに表示される。なお、入力部１０４がその他のデバイスである場合、入力画面４００は、その他のデバイスに備え付けられたディスプレイに表示されてもよい。入力画面４００は、計算式、寿命閾値及び計算式と寿命閾値とを結ぶ等号又は不等号からなる寿命式の入力を受け付けるときの入力画面である。入力画面４００は、計算式の入力を受け付ける計算式入力部４０１と、寿命閾値の入力を受け付ける寿命閾値入力部４０３と、計算式と寿命閾値とを結ぶ等号又は不等号の入力を受け付ける等号不等号入力部４０２と、入力した寿命式をプロセッサ１０２へ送信するための送信ボタン４０４とを有する。なお、両辺の計算式が等号又は不等号で接続される形態の式が用いられる場合、寿命式の入力を受け付ける入力画面は、入力画面４００の形態とは異なり、例えば、寿命閾値入力部４０３に代えて第２の計算式入力部がある形態が用いられる。 FIG. 2 is a diagram showing a life-type input screen 400. The input screen 400 is displayed on a touch panel that also functions as the input unit 104. When the input unit 104 is another device, the input screen 400 may be displayed on a display provided in the other device. The input screen 400 is an input screen for accepting an input of a life formula including a calculation formula, a life threshold, and an equal sign or an inequality sign that connects the calculation formula and the life threshold. The input screen 400 includes a calculation formula input unit 401 that receives an input of a calculation formula, a life threshold value input unit 403 that receives an input of a life threshold value, and an equal sign inequality sign that receives an input of an equal sign or an inequality sign that connects the calculation formula and the life threshold value An input unit 402 and a transmission button 404 for transmitting the input life formula to the processor 102 are provided. In addition, when the formula of the form where the calculation formulas of both sides are connected with equal signs or inequality signs is used, the input screen for accepting the input of the life formula is different from the form of the input screen 400, and for example, in the life threshold value input unit 403 Instead, a form having a second calculation formula input unit is used.
　計算式は、駆動機２００から出力されるフィードバック値に基づいて求めることができる駆動機２００の動作状態量を変数とする式である。入力画面４００には、計算式に使用することができる動作状態量が表示されており、入力された計算式が使用できない動作状態量を含む場合、入力エラーとなる。 The calculation formula is a formula with the operating state quantity of the driving machine 200 that can be obtained based on the feedback value output from the driving machine 200 as a variable. The input screen 400 displays operation state quantities that can be used in the calculation formula. If the input calculation formula includes an operation state quantity that cannot be used, an input error occurs.
　次に、実施の形態１に係る駆動機寿命評価装置１００が駆動機２００の寿命を評価する際の制御部１０５の処理を説明する。制御部１０５の処理は、モータ２０１を制御する処理と、動作状態量を算出して評価処理部１０６へ出力する処理とがある。 Next, the process of the control unit 105 when the drive machine life evaluation apparatus 100 according to Embodiment 1 evaluates the life of the drive machine 200 will be described. The process of the control unit 105 includes a process of controlling the motor 201 and a process of calculating an operation state quantity and outputting it to the evaluation processing unit 106.
　図３は、実施の形態１に係る制御部１０５の処理を示すフローチャートである。制御部１０５は、動作目標値を外部装置３００から取得する（ステップＳ１１）。制御部１０５は、動作目標値を取得したら、駆動機２００から出力されるフィードバック値を取得する（ステップＳ１２）。次に、制御部１０５は、駆動機２００から取得したフィードバック値に基づいて、駆動機２００の動作状態量を求める（ステップＳ１３）。制御部１０５は、ステップＳ１３で求めた動作状態量を、評価処理部１０６へ出力する（ステップＳ１４）。制御部１０５は、駆動機２００のフィードバック値と入力された動作目標値とに基づいて、モータ２０１に流す駆動用の電流を算出し、算出した駆動用の電流をモータ２０１に出力して、駆動機２００のフィードバック値を、入力された動作目標値に追従させる（ステップＳ１５）。なお、ステップＳ１５は、ステップＳ１３及びステップＳ１４の前に行われても、ステップＳ１３とステップＳ１４との間で行われてもよい。 FIG. 3 is a flowchart showing processing of the control unit 105 according to the first embodiment. The control unit 105 acquires the operation target value from the external device 300 (step S11). When acquiring the operation target value, the control unit 105 acquires a feedback value output from the driving machine 200 (step S12). Next, the control part 105 calculates | requires the operation state amount of the drive machine 200 based on the feedback value acquired from the drive machine 200 (step S13). The control unit 105 outputs the operation state quantity obtained in step S13 to the evaluation processing unit 106 (step S14). The control unit 105 calculates a driving current to be passed through the motor 201 based on the feedback value of the driving machine 200 and the input operation target value, and outputs the calculated driving current to the motor 201 for driving. The feedback value of the machine 200 is made to follow the input operation target value (step S15). In addition, step S15 may be performed before step S13 and step S14, or may be performed between step S13 and step S14.
　次に、駆動機寿命評価装置１００が駆動機２００の寿命を評価する際の評価処理部１０６の処理、すなわち寿命式演算部１０７及び寿命式評価部１０８の処理を説明する。図４は、実施の形態１に係る評価処理部１０６の処理を示すフローチャート、すなわち、寿命式演算部１０７及び寿命式評価部１０８の処理を示すフローチャートである。図５は、実施の形態１に係る寿命評価処理を示すフローチャートであり、図４のフローチャートにおけるステップＳ２３の具体的な処理の一例を詳細に示したものである。駆動機２００の寿命を評価する際、入力部１０４は、駆動機２００の寿命の評価に用いられる寿命式の入力を受け付ける処理をする。入力部１０４は、入力を受け付けた寿命式を評価処理部１０６へ出力する。実施の形態１において、寿命式は、例えば、計算式にモータ速度及び可動子の位置決め回数を含む場合として説明する。以下の実施の形態でも同様である。寿命式演算部１０７は、入力部１０４が受け付けた、計算式にモータ速度及び可動子の位置決め回数を含む寿命式を取得する（ステップＳ２１）。 Next, the processing of the evaluation processing unit 106 when the driving device life evaluation apparatus 100 evaluates the life of the driving device 200, that is, the processing of the life formula calculation unit 107 and the life formula evaluation unit 108 will be described. FIG. 4 is a flowchart showing the processing of the evaluation processing unit 106 according to the first embodiment, that is, the flowchart showing the processing of the life formula calculating unit 107 and the life formula evaluating unit 108. FIG. 5 is a flowchart showing the life evaluation process according to the first embodiment, and shows in detail an example of the specific process of step S23 in the flowchart of FIG. When evaluating the life of the driving machine 200, the input unit 104 performs processing for receiving an input of a life formula used for evaluating the life of the driving machine 200. The input unit 104 outputs the life formula that has received the input to the evaluation processing unit 106. In the first embodiment, the life formula is described as a case where the calculation formula includes the motor speed and the number of times of positioning of the mover. The same applies to the following embodiments. The life formula calculation unit 107 acquires a life formula including the motor speed and the number of times of positioning of the mover in the calculation formula received by the input unit 104 (step S21).
　寿命式演算部１０７は、制御部１０５がステップＳ１３で求めた動作状態量を、制御部１０５から取得する（ステップＳ２２）。寿命式演算部１０７は、取得した動作状態量のうち、モータ速度及び可動子の位置決め回数を用いて、入力部１０４に入力された寿命式の演算を実行し、寿命式評価部１０８は、寿命式演算部１０７の演算の結果により寿命を評価する（ステップＳ２３）。 The lifetime formula calculating unit 107 acquires the operation state quantity obtained by the control unit 105 in step S13 from the control unit 105 (step S22). The life formula calculation unit 107 executes the calculation of the life formula input to the input unit 104 using the motor speed and the number of times of positioning of the mover among the obtained operation state quantities, and the life formula evaluation unit 108 The lifetime is evaluated based on the result of the calculation by the expression calculation unit 107 (step S23).
　図５を用いて、ステップＳ２３の具体的な処理の一例を説明する。寿命式演算部１０７は、取得した動作状態量のうち、モータ速度及び可動子の位置決め回数を用いて、入力部１０４に入力された計算式を計算する（ステップＳ３１）。具体的には、モータ速度及び可動子の位置決め回数を、計算式に代入して計算する。その後、寿命式演算部１０７は、計算式の計算の結果を寿命式評価部１０８に出力する。寿命式評価部１０８は、計算式の計算結果を寿命式演算部１０７から取得し、計算式の計算結果と入力部１０４に入力された寿命閾値とを比較し、両者の間の関係を求める（ステップＳ３２）。寿命式評価部１０８は、ステップＳ３２で求めた両者の関係が、入力部１０４に入力された等号又は不等号を満たすか否かを判定する（ステップＳ３３）。 An example of specific processing in step S23 will be described with reference to FIG. The life formula calculation unit 107 calculates the calculation formula input to the input unit 104 using the motor speed and the number of times of positioning of the mover among the obtained operation state quantities (step S31). Specifically, the motor speed and the number of times of positioning the mover are substituted into the calculation formula and calculated. Thereafter, the life formula calculation unit 107 outputs the calculation formula calculation result to the life formula evaluation unit 108. The life formula evaluation unit 108 acquires the calculation result of the calculation formula from the life formula calculation unit 107, compares the calculation result of the calculation formula with the life threshold value input to the input unit 104, and obtains a relationship between the two ( Step S32). The life formula evaluation unit 108 determines whether or not the relationship obtained in step S32 satisfies the equal sign or the inequality sign input to the input unit 104 (step S33).
　寿命式評価部１０８は、ステップＳ３２で求めた両者の関係が、入力部１０４に入力された等号又は不等号を満たす場合（ステップＳ３３でＹｅｓ）、つまり寿命式が成立している場合、駆動機２００は寿命を迎えていないと評価し（ステップＳ３４）、フローを終了させる。一方、寿命式評価部１０８は、ステップＳ３２で求めた両者の関係が、入力部１０４に入力された等号又は不等号を満たさない場合（ステップＳ３３でＮｏ）、つまり寿命式が成立していない場合、駆動機２００は寿命を迎えていると評価し（ステップＳ３５）、フローを終了させる。なお、実施の形態１では、寿命式が成立している場合、寿命を迎えていない（駆動機２００が寿命を過ぎていない）とし、寿命式が成立していない場合、寿命を迎えている（駆動機２００が寿命を過ぎている）としたが、寿命式の不等号を逆にすることで、寿命式が成立している場合と寿命式が成立していない場合の取り扱いを逆にすることもできる。 If the relationship between the two obtained in step S32 satisfies the equal sign or inequality sign input to the input unit 104 (Yes in step S33), that is, if the life formula is satisfied, the life formula evaluation unit 108 200 evaluates that the lifetime has not reached (step S34), and ends the flow. On the other hand, when the relationship between the two obtained in step S32 does not satisfy the equal sign or the inequality sign input to the input unit 104 (No in step S33), that is, the life formula is not satisfied. The drive device 200 is evaluated as having reached the end of its life (step S35), and the flow is terminated. In the first embodiment, when the life formula is satisfied, the life is not reached (the driving device 200 has not passed the life), and when the life formula is not satisfied, the life is reached ( However, by reversing the inequality sign of the life formula, the handling when the life formula is established and when the life formula is not established may be reversed. it can.
　駆動機寿命評価装置１００は、入力部１０４より寿命式の入力を受け付け、入力を受け付けた寿命式を駆動機２００の動作状態量を用いて演算することにより、駆動機２００が寿命を迎えているか否かを評価する。このため、駆動機寿命評価装置１００は、駆動機２００の駆動環境及び駆動条件の変化に対応でき、種々の駆動環境及び駆動条件で駆動機２００の寿命を簡単に評価することができる。 The drive unit life evaluation apparatus 100 receives an input of a life formula from the input unit 104, and calculates the life formula that has received the input using the operation state quantity of the drive unit 200, so that the drive unit 200 has reached the end of its life. Evaluate whether or not. For this reason, the drive machine life evaluation apparatus 100 can respond to changes in the drive environment and drive conditions of the drive machine 200, and can easily evaluate the life of the drive machine 200 in various drive environments and drive conditions.
　また、駆動機寿命評価装置１００は、駆動機２００に含まれるボールねじ又はベアリングなどの負荷のかかる部材ごとに、例えば、各部材の製造元から提示されている定格寿命を表す寿命式を用いて、寿命の評価を行うことができるという利点がある。また、これに限らず、部材ごとに、製造元から提示されている寿命式とは異なる寿命式を用いることもできる。 Further, the driving device life evaluation apparatus 100 uses, for example, a life formula representing a rated life presented by a manufacturer of each member for each member to which a load such as a ball screw or a bearing included in the driving device 200 is applied. There is an advantage that the life can be evaluated. Moreover, it is not restricted to this, The life type | formula different from the life type | presentation shown from the manufacturer can also be used for every member.
　また、駆動機寿命評価装置１００は、駆動機２００の駆動環境及び駆動条件、さらには駆動機構における寿命の評価に用いられる数式又はアルゴリズムなどを実装することを要しないので、臨機応変に駆動機２００の寿命の評価を行うことができるという利点がある。実施の形態１で開示した構成は、以下の実施の形態においても適宜適用できる。 In addition, the drive machine life evaluation apparatus 100 does not need to implement the drive environment and drive conditions of the drive machine 200, and the mathematical expression or algorithm used for the life evaluation of the drive mechanism, and therefore the drive machine 200 can be changed as needed. There is an advantage that it is possible to evaluate the lifespan. The configuration disclosed in the first embodiment can be applied as appropriate in the following embodiments.
　図６は、駆動機寿命評価装置１００の概略を示す図である。駆動機寿命評価装置１００は、入力デバイス１０１と、プロセッサ１０２と、メモリ１０３とにより構成される。入力デバイス１０１は、タッチパネル、マウス又はキーボードが用いられるが、これらに限定されない。メモリ１０３には、制御プログラム及び評価処理プログラムが記憶されている。 FIG. 6 is a diagram showing an outline of the drive unit life evaluation apparatus 100. The drive unit life evaluation apparatus 100 includes an input device 101, a processor 102, and a memory 103. As the input device 101, a touch panel, a mouse, or a keyboard is used, but is not limited thereto. The memory 103 stores a control program and an evaluation processing program.
　駆動機寿命評価装置１００は、入力部１０４の機能を、入力デバイス１０１により実現する。駆動機寿命評価装置１００は、制御部１０５及び評価処理部１０６の機能を、プロセッサ１０２が、メモリ１０３に記憶された制御プログラム及び評価処理プログラムをそれぞれ実行することにより実現する。また、複数のプロセッサ及び複数のメモリが連携して制御部１０５及び評価処理部１０６の機能を実現してもよいし、システムＬＳＩ（Large　Scale　Integration）又は複数の処理回路が制御部１０５及び評価処理部１０６の機能を実現してもよい。また、複数の装置にまたがって制御部１０５及び評価処理部１０６の機能を実現してもよい。以下の実施の形態でも同様である。 The drive life evaluation apparatus 100 realizes the function of the input unit 104 by the input device 101. The drive unit life evaluation apparatus 100 realizes the functions of the control unit 105 and the evaluation processing unit 106 by the processor 102 executing the control program and the evaluation processing program stored in the memory 103, respectively. A plurality of processors and a plurality of memories may cooperate to realize the functions of the control unit 105 and the evaluation processing unit 106, or a system LSI (Large Scale Integration) or a plurality of processing circuits may be connected to the control unit 105 and the evaluation processing. The function of the unit 106 may be realized. Moreover, you may implement | achieve the function of the control part 105 and the evaluation process part 106 over several apparatuses. The same applies to the following embodiments.
実施の形態２．
　図７は、実施の形態２に係る駆動機寿命評価装置１１０の構成を示すブロック図である。駆動機寿命評価装置１１０は、駆動機寿命評価装置１００と同様の構成に、駆動機寿命評価装置１００と同一の符号群を用い、その詳細な説明を省略する。駆動機寿命評価装置１１０は、入力を受け付ける入力部１１４と、駆動機２００を制御する制御部１１５と、評価処理部１０６とを備える。 Embodiment 2. FIG.
FIG. 7 is a block diagram showing the configuration of the drive unit life evaluation apparatus 110 according to the second embodiment. The drive machine life evaluation apparatus 110 uses the same code group as the drive machine life evaluation apparatus 100 in the same configuration as the drive machine life evaluation apparatus 100, and a detailed description thereof is omitted. The drive machine life evaluation apparatus 110 includes an input unit 114 that receives an input, a control unit 115 that controls the drive machine 200, and an evaluation processing unit 106.
　入力部１１４は、入力部１０４の機能に加え、入力を受け付けた寿命式を制御部１１５へ出力する機能を有する。制御部１１５は、制御部１０５の機能に加え、入力を受け付けた寿命式の演算に含まれる動作状態量を抽出し、抽出した動作状態量を評価処理部１０６に出力する機能を有する。すなわち、制御部１１５は、入力を受け付けた寿命式の演算に必要な動作状態量のみを評価処理部１０６へ出力する機能を有する。評価処理部１０６は、制御部１１５によって抽出された動作状態量のみを、制御部１１５から取得する。 In addition to the function of the input unit 104, the input unit 114 has a function of outputting a life formula that has received an input to the control unit 115. In addition to the function of the control unit 105, the control unit 115 has a function of extracting an operation state quantity included in the calculation of the life formula that has received an input, and outputting the extracted operation state quantity to the evaluation processing unit 106. That is, the control unit 115 has a function of outputting only the operation state quantity necessary for the calculation of the life formula that has received the input to the evaluation processing unit 106. The evaluation processing unit 106 acquires only the operation state quantity extracted by the control unit 115 from the control unit 115.
　図８は、実施の形態２に係る制御部１１５の処理の一部を示すフローチャートである。制御部１１５は、実施の形態１に係る制御部１０５で実行するステップＳ１４に代えて、図８に示す処理を実行する。駆動機２００の寿命を評価する際、入力部１１４は、駆動機２００の寿命の評価に用いられる寿命式の入力を受け付ける処理をする。入力部１１４は、入力を受け付けた寿命式を制御部１１５及び評価処理部１０６へ出力する。制御部１１５は、入力部１１４が受け付けた、計算式にモータ速度及び可動子の位置決め回数を含む寿命式を取得する（ステップＳ４１）。 FIG. 8 is a flowchart showing a part of the process of the control unit 115 according to the second embodiment. The control unit 115 executes the process shown in FIG. 8 instead of step S14 executed by the control unit 105 according to the first embodiment. When evaluating the life of the driving machine 200, the input unit 114 performs processing for receiving an input of a life formula used for evaluating the life of the driving machine 200. The input unit 114 outputs the life formula that has received the input to the control unit 115 and the evaluation processing unit 106. The control unit 115 acquires a life formula including the motor speed and the number of times of positioning of the mover in the calculation formula received by the input unit 114 (step S41).
　制御部１１５は、取得した動作状態量の中から、取得した寿命式に含まれる動作状態量、本例ではモータ速度及び可動子の位置決め回数を抽出する（ステップＳ４２）。制御部１１５は、ステップＳ４２で抽出した動作状態量を評価処理部１０６へ出力する（ステップＳ４３）。 The control unit 115 extracts the operation state amount included in the acquired life formula, in this example, the motor speed and the number of times of positioning of the mover from the acquired operation state amount (step S42). The control unit 115 outputs the operation state quantity extracted in step S42 to the evaluation processing unit 106 (step S43).
　駆動機寿命評価装置１１０は、制御部１１５が寿命式の情報を取得し、寿命式の情報に基づいた抽出処理を行うことで、制御部１１５から評価処理部１０６へ出力される動作状態量の数を減らしている。実施の形態２では、制御部１１５から評価処理部１０６へ出力される動作状態量を寿命式の演算に含まれるもののみに減らしている。このため、駆動機寿命評価装置１１０は、寿命評価における処理数及びメモリ１０３の使用量を少なくすることができる。 In the drive unit life evaluation apparatus 110, the control unit 115 acquires life formula information and performs an extraction process based on the life formula information. The number is decreasing. In the second embodiment, the amount of operation state output from the control unit 115 to the evaluation processing unit 106 is reduced to only that included in the calculation of the life formula. For this reason, the drive unit lifetime evaluation apparatus 110 can reduce the number of processes and the usage amount of the memory 103 in the lifetime evaluation.
実施の形態３．
　図９は、実施の形態３に係る駆動機寿命評価装置１２０の構成を示すブロック図である。駆動機寿命評価装置１２０は、駆動機寿命評価装置１００と同様の構成に、駆動機寿命評価装置１００と同一の符号群を用い、その詳細な説明を省略する。駆動機寿命評価装置１２０は、入力を受け付ける入力部１２４と、駆動機２００を制御する制御部１２５と、評価処理部１０６とを備える。 Embodiment 3 FIG.
FIG. 9 is a block diagram illustrating a configuration of the drive machine life evaluation apparatus 120 according to the third embodiment. The drive machine life evaluation apparatus 120 uses the same code group as the drive machine life evaluation apparatus 100 in the same configuration as the drive machine life evaluation apparatus 100, and a detailed description thereof is omitted. The drive machine life evaluation apparatus 120 includes an input unit 124 that receives an input, a control unit 125 that controls the drive machine 200, and an evaluation processing unit 106.
　入力部１２４は、入力部１０４の機能に加え、入力を受け付けた寿命式の演算に含まれる動作状態量を抽出し、抽出した動作状態量を評価処理部１０６に出力する旨の指令を、制御部１２５に出力する機能を有する。すなわち、入力部１２４は、入力を受け付けた寿命式の演算に必要な動作状態量のみを評価処理部１０６へ出力するよう制御部１２５に指令する機能を有する。制御部１２５は、制御部１０５の機能に加え、入力部１２４から出力される指令を取得し、指令に基づく動作状態量のみを評価処理部１０６へ出力する機能を有する。評価処理部１０６は、入力部１２４からの指令に基づく動作状態量のみ、すなわち寿命式の演算に必要な動作状態量のみを、制御部１２５から取得する。 In addition to the function of the input unit 104, the input unit 124 controls the command to extract the operation state quantity included in the calculation of the life formula that has received the input, and to output the extracted operation state quantity to the evaluation processing unit 106. A function of outputting to the unit 125. That is, the input unit 124 has a function of instructing the control unit 125 to output only the operation state quantity necessary for the calculation of the life formula that has received the input to the evaluation processing unit 106. In addition to the function of the control unit 105, the control unit 125 has a function of acquiring a command output from the input unit 124 and outputting only an operation state quantity based on the command to the evaluation processing unit 106. The evaluation processing unit 106 acquires, from the control unit 125, only the operation state quantity based on the command from the input unit 124, that is, only the operation state quantity necessary for the calculation of the life formula.
　図１０は、実施の形態３に係る制御部１２５の処理の一部を示すフローチャートである。制御部１２５は、実施の形態１に係る制御部１０５で実行されるステップＳ１４の処理に代えて、図１０に示す処理を実行する。駆動機２００の寿命を評価する際、入力部１２４は、駆動機２００の動作目標値及び寿命の評価に用いられる寿命式の入力を受け付ける処理をする。入力部１２４は、入力を受け付けた寿命式を評価処理部１０６へ出力する。さらに、入力部１２４は、入力を受け付けた寿命式に含まれる動作状態量を抽出し、抽出した動作状態量を評価処理部１０６へ出力する旨の指令を、制御部１２５へ出力する。制御部１２５は、入力部１２４から出力される指令を取得する（ステップＳ５１）。次に、制御部１２５は、ステップＳ５１の指令に基づいて抽出した動作状態量を評価処理部１０６へ出力する（ステップＳ４３）。 FIG. 10 is a flowchart showing a part of the process of the control unit 125 according to the third embodiment. The control unit 125 executes the process shown in FIG. 10 instead of the process of step S14 executed by the control unit 105 according to the first embodiment. When evaluating the life of the driving machine 200, the input unit 124 performs a process of receiving an input of an operation target value of the driving machine 200 and a life formula used for evaluation of the life. The input unit 124 outputs the life formula that has received the input to the evaluation processing unit 106. Further, the input unit 124 extracts an operation state quantity included in the life formula that has received the input, and outputs a command to the control unit 125 to output the extracted operation state quantity to the evaluation processing unit 106. The control unit 125 acquires a command output from the input unit 124 (step S51). Next, the control unit 125 outputs the operation state quantity extracted based on the command in step S51 to the evaluation processing unit 106 (step S43).
　駆動機寿命評価装置１２０は、入力部１２４から入力される寿命式の情報に基づいて、動作状態量を抽出することで、駆動機寿命評価装置１１０と同様に、制御部１２５から評価処理部１０６へ出力される動作状態量の数を、寿命式の演算に含まれるもののみに減らしている。このため、駆動機寿命評価装置１２０は、寿命評価における処理数及びメモリ１０３の使用量を少なくすることができる。 The drive unit life evaluation apparatus 120 extracts the operation state quantity based on the life formula information input from the input unit 124, so that the evaluation processing unit 106 is transmitted from the control unit 125 in the same manner as the drive unit life evaluation apparatus 110. The number of operating state quantities output to is reduced to only those included in the life formula calculation. For this reason, the drive unit lifetime evaluation apparatus 120 can reduce the number of processes and the usage amount of the memory 103 in the lifetime evaluation.
実施の形態４．
　図１１は、実施の形態４に係る駆動機寿命評価装置１３０の構成を示すブロック図である。駆動機寿命評価装置１３０は、駆動機寿命評価装置１００と同様の構成に、駆動機寿命評価装置１００と同一の符号群を用い、その詳細な説明を省略する。駆動機寿命評価装置１３０は、入力部１０４と、制御部１０５と、駆動機２００の寿命を評価する評価処理部１３６と、記憶部１３８と、表示部１３９とを備える。 Embodiment 4 FIG.
FIG. 11 is a block diagram showing the configuration of the drive machine life evaluation apparatus 130 according to the fourth embodiment. The drive machine life evaluation apparatus 130 uses the same code group as that of the drive machine life evaluation apparatus 100 in the same configuration as the drive machine life evaluation apparatus 100, and a detailed description thereof is omitted. The drive unit life evaluation apparatus 130 includes an input unit 104, a control unit 105, an evaluation processing unit 136 that evaluates the life of the drive unit 200, a storage unit 138, and a display unit 139.
　評価処理部１３６は、寿命式演算部１３７と、寿命式評価部１０８とを有する。寿命式演算部１３７は、寿命式演算部１０７の機能に加え、寿命式の演算の結果を記憶部１３８に保存させる機能を有する。記憶部１３８は、寿命式演算部１３７による寿命式の演算の結果を出力可能なように保存する。表示部１３９は、保存された演算の結果を出力して表示する。表示部１３９は、保存された演算の結果を複数出力して表示する機能を有する。駆動機寿命評価装置１３０は、記憶部１３８の機能を、メモリ１０３により実現する。駆動機寿命評価装置１３０は、表示部１３９の機能を、入力デバイス１０１が有する表示機能により実現する。 The evaluation processing unit 136 includes a life formula calculation unit 137 and a life formula evaluation unit 108. In addition to the function of the life formula calculation unit 107, the life formula calculation unit 137 has a function of storing the result of the life formula calculation in the storage unit 138. The storage unit 138 stores the result of the life expression calculation by the life expression calculation unit 137 so that it can be output. The display unit 139 outputs and displays the stored calculation result. The display unit 139 has a function of outputting and displaying a plurality of stored calculation results. The drive unit life evaluation device 130 realizes the function of the storage unit 138 by the memory 103. The drive unit life evaluation apparatus 130 realizes the function of the display unit 139 by the display function of the input device 101.
　図１２は、実施の形態４に係る評価処理部１３６及び表示部１３９の追加処理を示すフローチャートである。評価処理部１３６及び表示部１３９は、実施の形態１に係る評価処理部１０６で実行されるステップＳ２３の処理の後に、図１２に示す処理を実行する。評価処理部１３６が有する寿命式演算部１３７は、寿命式演算部１３７が求めた寿命式の演算の結果を記憶部１３８に保存させる（ステップＳ６１）。記憶部１３８は、寿命式演算部１３７で求められた寿命式の演算の結果を出力可能なように保存する。次に、表示部１３９は、記憶部１３８に保存された演算の結果を出力し、表示する（ステップＳ６２）。なお、ステップＳ６２において、表示部１３９は、記憶部１３８に保存された演算の結果を複数出力して、表示してもよい。 FIG. 12 is a flowchart showing additional processing of the evaluation processing unit 136 and the display unit 139 according to the fourth embodiment. The evaluation processing unit 136 and the display unit 139 execute the process shown in FIG. 12 after the process of step S23 executed by the evaluation processing unit 106 according to the first embodiment. The life formula calculation unit 137 included in the evaluation processing unit 136 stores the result of the calculation of the life formula obtained by the life formula calculation unit 137 in the storage unit 138 (step S61). The storage unit 138 stores the life formula calculation result obtained by the life formula calculation unit 137 so that it can be output. Next, the display unit 139 outputs and displays the calculation result stored in the storage unit 138 (step S62). In step S62, the display unit 139 may output and display a plurality of calculation results stored in the storage unit 138.
　駆動機寿命評価装置１３０は、寿命式演算部１３７により、寿命式演算部１３７が求めた寿命式の演算の結果を記憶部１３８に保存させ、表示部１３９により保存された演算の結果が出力されて表示される。このため、駆動機寿命評価装置１３０は、寿命式の演算の結果をユーザに可視化させることができる。また、記憶部１３８に保存された複数の寿命式の演算の結果を表示部１３９に表示することで、寿命式の演算の結果の変化をユーザに可視化させることができる。演算の結果を表示することで、駆動機２００に寿命が到達する時期をユーザが予測することができる。 In the drive unit life evaluation device 130, the life formula calculation unit 137 causes the life formula calculation unit 137 to store the calculation result of the life formula in the storage unit 138, and the display unit 139 outputs the calculation result. Displayed. For this reason, the drive machine lifetime evaluation apparatus 130 can make a user visualize the result of the calculation of a lifetime formula. In addition, by displaying the results of the calculation of the plurality of life formulas stored in the storage unit 138 on the display unit 139, a change in the result of the calculation of the life formulas can be visualized by the user. By displaying the result of the calculation, the user can predict when the lifetime of the driving machine 200 will be reached.
実施の形態５．
　図１３は、実施の形態５に係る駆動機寿命評価装置１４０の構成を示すブロック図である。駆動機寿命評価装置１４０は、駆動機寿命評価装置１００と同様の構成に、駆動機寿命評価装置１００と同一の符号群を用い、その詳細な説明を省略する。駆動機寿命評価装置１４０は、入力部１０４と、駆動機２００を制御する制御部１４５と、駆動機２００の寿命を評価する評価処理部１４６と、警告器１４９とを備える。実施の形態５では、警告器１４９が、駆動機寿命評価装置１４０に備え付けられている場合として説明する。警告器１４９は、駆動機寿命評価装置１４０に備え付けられている場合に限定されず、駆動機２００に備え付けられていてもよい。警告器１４９は、例えば、発光により警告を行う装置や、音声を発生することにより警告を行う装置を用いることができるが、これに限定されない。 Embodiment 5 FIG.
FIG. 13 is a block diagram showing the configuration of the drive unit life evaluation apparatus 140 according to the fifth embodiment. The drive unit life evaluation device 140 uses the same code group as that of the drive unit life evaluation device 100 in the same configuration as the drive device life evaluation device 100, and a detailed description thereof is omitted. The drive unit life evaluation apparatus 140 includes an input unit 104, a control unit 145 that controls the drive unit 200, an evaluation processing unit 146 that evaluates the lifetime of the drive unit 200, and a warning device 149. In the fifth embodiment, the case where the warning device 149 is provided in the drive unit life evaluation apparatus 140 will be described. The warning device 149 is not limited to the case where the warning device 149 is provided in the drive unit life evaluation apparatus 140, and may be provided in the drive unit 200. The warning device 149 can be, for example, a device that gives a warning by light emission or a device that gives a warning by generating sound, but is not limited thereto.
　制御部１４５は、制御部１０５の機能に加え、寿命式評価部１４８から寿命評価信号、つまり寿命式評価部１４８で評価した寿命式の評価の結果を取得し、取得した評価の結果に基づいて警告を発する機能を有する。すなわち、制御部１４５は、取得した評価の結果が、駆動機２００は寿命を迎えていると評価する内容のものであった場合、警告器１４９にその旨の警告を発せさせる機能を有する。評価処理部１４６は、寿命式演算部１０７と、寿命式評価部１４８とを有する。寿命式評価部１４８は、寿命式評価部１０８の機能に加え、寿命評価信号を制御部１４５に出力する機能を有する。 In addition to the function of the control unit 105, the control unit 145 obtains a life evaluation signal from the life formula evaluation unit 148, that is, the result of the life formula evaluation evaluated by the life formula evaluation unit 148, and based on the obtained evaluation result Has a function to issue a warning. That is, the control unit 145 has a function of causing the warning device 149 to issue a warning to the effect that the acquired evaluation result has a content that evaluates that the drive unit 200 has reached the end of its life. The evaluation processing unit 146 includes a life formula calculation unit 107 and a life formula evaluation unit 148. The life formula evaluation unit 148 has a function of outputting a life evaluation signal to the control unit 145 in addition to the function of the life formula evaluation unit 108.
　図１４は、実施の形態５に係る制御部１４５の処理を示すフローチャートである。制御部１４５は、実施の形態１に係る制御部１０５の処理で実行されるステップＳ２３の処理の後に、図１４に示す処理を実行する。ステップＳ２３の後に、寿命式評価部１４８は、寿命評価信号を制御部１４５に出力する。制御部１４５は、寿命式評価部１４８から寿命評価信号を取得する（ステップＳ７１）。 FIG. 14 is a flowchart showing processing of the control unit 145 according to the fifth embodiment. The control unit 145 executes the process shown in FIG. 14 after the process of step S23 executed in the process of the control unit 105 according to the first embodiment. After step S23, the life formula evaluation unit 148 outputs a life evaluation signal to the control unit 145. The control unit 145 acquires a life evaluation signal from the life formula evaluation unit 148 (step S71).
　制御部１４５は、取得した寿命式の評価の結果を判断する（ステップＳ７２）。具体的には、制御部１４５は、駆動機２００が寿命を迎えているか否かを判定する。制御部１４５は、寿命式を満たしている状態から満たしていない状態に切り換わった場合、または寿命式を満たしていない状態から満たしている状態に切り換わった場合、駆動機２００が寿命を迎えたと判断する。制御部１４５は、取得した寿命評価信号が、駆動機２００は寿命を迎えていると評価する内容のものであると判断した場合（ステップＳ７２でＹｅｓ）、駆動機２００が寿命を迎えている旨を示す警告を、警告器１４９に発させる（ステップＳ７３）。警告器１４９は、発光又は音声の発生により、周囲に駆動機２００が寿命を迎えている旨の警告を発する。一方、制御部１４５は、取得した寿命式の演算の結果が、駆動機２００は寿命を迎えていないと評価する内容のものであると判断した場合（ステップＳ７２でＮｏ）、ステップＳ７３を行わず、フローを終了させる。 The control unit 145 determines the result of evaluation of the acquired life formula (step S72). Specifically, the control unit 145 determines whether or not the driving machine 200 has reached the end of its life. When the controller 145 switches from a state that satisfies the life formula to a state that does not satisfy the life formula, or switches from a state that does not satisfy the life formula to a state that satisfies the life formula, the drive unit 200 has reached the end of its life. to decide. When the control unit 145 determines that the acquired life evaluation signal has a content that evaluates that the drive unit 200 has reached the end of life (Yes in step S72), the control unit 145 indicates that the drive unit 200 has reached the end of its life. Is issued to the warning device 149 (step S73). The warning device 149 issues a warning that the drive unit 200 has reached the end of its life due to the generation of light emission or sound. On the other hand, if the control unit 145 determines that the result of the operation of the acquired life formula is content that evaluates that the drive unit 200 has not reached the end of life (No in step S72), step S73 is not performed. End the flow.
　駆動機寿命評価装置１４０は、寿命式評価部１４８により駆動機２００が寿命を迎えていると評価される場合、制御部１４５により警告器１４９から警告が発せられる。このため、駆動機寿命評価装置１４０は、駆動機２００が寿命を迎えていることを警告によってすぐにユーザに認識させることができる。また、駆動機寿命評価装置１４０は、警告を出力することで、寿命を迎えた駆動機２００の部材を適切な時期に交換するようユーザに促すことができる。 In the drive unit life evaluation apparatus 140, when the life unit evaluation unit 148 evaluates that the drive unit 200 has reached the end of its life, the control unit 145 issues a warning from the warning device 149. For this reason, the drive machine life evaluation apparatus 140 can make a user recognize immediately by warning that the drive machine 200 has reached the end of its life. Further, the drive unit life evaluation device 140 can prompt the user to replace the member of the drive unit 200 that has reached the end of its life at an appropriate time by outputting a warning.
　また、駆動機寿命評価装置１４０は、制御部１４５により警告器１４９から警告が発せられるが、警告に加えて、駆動機２００を停止させてもよい。 Further, the drive unit life evaluation device 140 issues a warning from the warning unit 149 by the control unit 145, but may stop the drive unit 200 in addition to the warning.
実施の形態６．
　図１５は、実施の形態６に係る駆動機寿命評価装置１５０の構成を示すブロック図である。駆動機寿命評価装置１５０は、駆動機寿命評価装置１００と同様の構成に、駆動機寿命評価装置１００と同一の符号群を用い、その詳細な説明を省略する。駆動機寿命評価装置１５０は、入力部１０４と、駆動機２００を制御する制御部１５５と、駆動機２００の寿命を評価する評価処理部１５６と、記憶部１６１と、表示部１６２とを備える。 Embodiment 6 FIG.
FIG. 15 is a block diagram showing a configuration of a drive machine life evaluation apparatus 150 according to the sixth embodiment. The drive unit life evaluation apparatus 150 uses the same code group as that of the drive unit life evaluation apparatus 100 in the same configuration as the drive unit life evaluation apparatus 100, and a detailed description thereof is omitted. The drive unit life evaluation apparatus 150 includes an input unit 104, a control unit 155 that controls the drive unit 200, an evaluation processing unit 156 that evaluates the lifetime of the drive unit 200, a storage unit 161, and a display unit 162.
　制御部１５５は、制御部１０５の機能に加え、寿命式評価部１５８による寿命式の評価の結果を寿命式評価部１５８から取得し、取得した評価の結果に基づいて動作状態量を記憶部１６１に保存させる機能を有する。すなわち、制御部１５５は、取得した評価の結果が、駆動機２００は寿命を迎えていると評価する内容のものであった場合、寿命を迎えている時の動作状態量を記憶部１６１に保存させる機能を有する。 In addition to the function of the control unit 105, the control unit 155 acquires the result of the life formula evaluation by the life formula evaluation unit 158 from the life formula evaluation unit 158, and stores the operation state amount based on the acquired evaluation result. Has the function of saving. That is, the control unit 155 stores, in the storage unit 161, the amount of operation state when the life has reached the end when the acquired evaluation result is content that evaluates that the drive unit 200 has reached the end of its life. It has a function to make it.
　評価処理部１５６は、寿命式演算部１５７と、寿命式評価部１５８とを有する。寿命式演算部１５７は、寿命式演算部１０７の機能に加え、寿命式の演算の結果を記憶部１６１に保存させる機能を有する。寿命式評価部１５８は、寿命式評価部１０８の機能に加え、寿命式の評価の結果を制御部１５５に出力する機能を有する。 The evaluation processing unit 156 includes a life formula calculation unit 157 and a life formula evaluation unit 158. In addition to the function of the life formula calculation unit 107, the life formula calculation unit 157 has a function of storing the result of the life formula calculation in the storage unit 161. The life formula evaluation unit 158 has a function of outputting the result of the life formula evaluation to the control unit 155 in addition to the function of the life formula evaluation unit 108.
　記憶部１６１は、寿命式演算部１５７による寿命式の演算の結果、及び制御部１５５による動作状態量を、出力可能なように保存する。表示部１６２は、保存された演算の結果又は動作状態量を出力して表示する。表示部１６２は、保存された演算の結果又は動作状態量を複数出力して表示する機能を有する。駆動機寿命評価装置１５０は、記憶部１６１の機能を、メモリ１０３により実現する。駆動機寿命評価装置１５０は、表示部１６２の機能を、入力デバイス１０１が有する表示機能により実現する。 The storage unit 161 stores the result of the life expression calculation by the life expression calculation unit 157 and the operation state quantity by the control unit 155 so as to be output. The display unit 162 outputs and displays the stored calculation result or operation state quantity. The display unit 162 has a function of outputting and displaying a plurality of stored calculation results or operation state quantities. The drive unit life evaluation apparatus 150 realizes the function of the storage unit 161 by the memory 103. The drive unit life evaluation apparatus 150 realizes the function of the display unit 162 by the display function of the input device 101.
　図１６は、実施の形態６に係る制御部１５５及び表示部１６２の処理を示すフローチャートである。制御部１５５及び表示部１６２は、実施の形態１に係る評価処理部１０６の処理で実行されるステップＳ２３の後に、図１６に示す処理を実行する。まず、寿命式評価部１５８は、寿命式の評価の結果を制御部１５５に出力する。制御部１５５は、寿命式評価部１５８から寿命式の評価の結果を取得する（ステップＳ７１）。 FIG. 16 is a flowchart showing processing of the control unit 155 and the display unit 162 according to the sixth embodiment. The control unit 155 and the display unit 162 execute the process shown in FIG. 16 after step S23 executed in the process of the evaluation processing unit 106 according to the first embodiment. First, the life formula evaluation unit 158 outputs the result of the life formula evaluation to the control unit 155. The control unit 155 acquires the result of the life formula evaluation from the life formula evaluation unit 158 (step S71).
　次に、制御部１５５は、取得した寿命式の評価の結果を判断する（ステップＳ７２）。制御部１５５は、取得した寿命式の演算の結果が駆動機２００は寿命を迎えていると評価する内容のものであると判断した場合、つまり寿命式を満たしている状態から満たしていない状態に切り換わった、または寿命式を満たしていない状態から満たしている状態に切り換わったと判断した場合（ステップＳ７２でＹｅｓ）、駆動機２００が寿命を迎えたとき、つまり寿命式を満たしている状態から満たしていない状態に切り換わった時点、または寿命式を満たしていない状態から満たしている状態に切り換わった時点の動作状態量を記憶部１６１に保存させる（ステップＳ８１）。その後、表示部１６２は、記憶部１６１に保存された動作状態量を出力し、表示する。一方、制御部１５５は、取得した寿命式の演算の結果が駆動機２００は寿命を迎えていないと評価する内容のものであると判断した場合（ステップＳ７２でＮｏ）、ステップＳ８１を行わず、フローを終了させる。なお、ステップＳ８１の後において、表示部１６２は、記憶部１６１に保存された動作状態量を複数出力して、表示してもよい。 Next, the control unit 155 determines the result of evaluation of the acquired life formula (step S72). When the controller 155 determines that the result of the operation of the acquired life formula is the content that evaluates that the drive unit 200 has reached the end of its life, that is, from the state that satisfies the life formula to the state that does not satisfy When it is determined that the state has been switched or the state is not satisfied from the life formula (Yes in step S72), when the drive 200 reaches the end of the life, that is, from the state where the life formula is satisfied. The operation state quantity at the time of switching to a state that does not satisfy or when switching from a state that does not satisfy the life formula to a state that satisfies the state is stored in the storage unit 161 (step S81). Thereafter, the display unit 162 outputs and displays the operation state quantity stored in the storage unit 161. On the other hand, if the control unit 155 determines that the result of the operation of the acquired life formula is content that evaluates that the driving machine 200 has not reached the end of life (No in step S72), the control unit 155 does not perform step S81, End the flow. Note that after step S81, the display unit 162 may output and display a plurality of operation state quantities stored in the storage unit 161.
　駆動機寿命評価装置１５０は、制御部１５５により、寿命式評価部１５８による寿命式の評価の結果が寿命を迎えていると評価する内容のものであると判断される場合、その時点の動作状態量を記憶部１６１に保存させ、表示部１６２に保存された演算の結果を表示させる。このため、駆動機寿命評価装置１５０は、寿命を迎えた時点の動作状態量をユーザに可視化させることができる。また、表示部１６２に、記憶部１６１に保存された寿命を迎えた時の動作状態量を複数同時に表示させることで、寿命を迎えたときの動作状態量を比較可能にユーザに可視化させることができる。また、この場合、ユーザに駆動機２００の寿命をより正確に予測可能にすることができる。 When it is determined by the control unit 155 that the result of the life formula evaluation by the life formula evaluation unit 158 is the content that evaluates that it has reached the life, the drive unit life evaluation device 150 operates at that time. The amount is stored in the storage unit 161 and the calculation result stored in the display unit 162 is displayed. For this reason, the drive machine lifetime evaluation apparatus 150 can make a user visualize the operation state quantity at the time of reaching the lifetime. In addition, by displaying a plurality of operation state quantities at the end of the life stored in the storage unit 161 on the display unit 162 at the same time, the operation state quantities at the end of the life can be visualized by the user in a comparable manner. it can. In this case, the user can predict the life of the driving machine 200 more accurately.
　実施の形態６に係る駆動機寿命評価装置１５０は、評価の結果が寿命を迎えていると判断した場合、記憶部１６１に動作状態量を出力することに加えて、駆動機２００を停止させてもよい。 When it is determined that the evaluation result has reached the end of life, the drive unit lifetime evaluation apparatus 150 according to Embodiment 6 stops the drive unit 200 in addition to outputting the operation state quantity to the storage unit 161. Also good.
　以上の実施の形態に示した構成は、本発明の内容の一例を示すものであり、別の公知の技術と組み合わせることも可能であるし、本発明の要旨を逸脱しない範囲で、構成の一部を省略又は変更することも可能である。 The configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.
　１００，１１０，１２０，１３０，１４０，１５０　駆動機寿命評価装置、１０１　入力デバイス、１０２　プロセッサ、１０３　メモリ、１０４，１１４，１２４　入力部、１０５，１１５，１２５，１４５，１５５　制御部、１０６，１３６，１４６，１５６　評価処理部、１０７，１３７，１５７　寿命式演算部、１０８，１４８，１５８　寿命式評価部、１３８，１６１　記憶部、１３９，１６２　表示部、１４９　警告器、２００　駆動機、２０１　モータ、２０２　負荷装置、３００　外部装置、４００　入力画面、４０１　計算式入力部、４０２　等号不等号入力部、４０３　寿命閾値入力部、４０４　送信ボタン。 100, 110, 120, 130, 140, 150 Drive life evaluation device, 101 input device, 102 processor, 103 memory, 104, 114, 124 input unit, 105, 115, 125, 145, 155 control unit, 106, 136 , 146, 156 Evaluation processing unit, 107, 137, 157 Life formula calculation unit, 108, 148, 158 Life formula evaluation unit, 138, 161 storage unit, 139, 162 display unit, 149 warning device, 200 drive machine, 201 motor , 202 load device, 300 external device, 400 input screen, 401 formula input unit, 402 equal sign inequality sign input unit, 403 life threshold value input unit, 404 send button.

Claims (8)

  1. 　モータと負荷装置とを有する駆動機の寿命を評価する駆動機寿命評価装置であって、
    　前記寿命の評価に用いられる寿命式の入力を受け付ける入力部と、
    　前記駆動機から出力されるフィードバック値に基づいて前記駆動機の動作状態量を取得し、前記フィードバック値を外部から入力される動作目標値に追従させる制御部と、
    　前記制御部から前記動作状態量を取得し、前記動作状態量を用いて前記寿命式の演算を実行し、前記演算の結果により寿命を評価する評価処理部と、
    　を備えることを特徴とする駆動機寿命評価装置。     A drive life evaluation device for evaluating the life of a drive having a motor and a load device,
    An input unit for receiving an input of a life formula used for the evaluation of the life;
    A control unit that obtains an operation state quantity of the drive unit based on a feedback value output from the drive unit, and causes the feedback value to follow an operation target value input from the outside;
    Obtaining the operating state quantity from the control unit, performing the calculation of the life formula using the operating state quantity, and evaluating the life based on the result of the calculation;
    A drive machine life evaluation apparatus comprising:
  2. 　前記制御部は、前記寿命式を取得し、前記寿命式に含まれる前記動作状態量を抽出し、抽出した前記動作状態量を前記評価処理部に出力する、
    　ことを特徴とする請求項１に記載の駆動機寿命評価装置。     The control unit acquires the life formula, extracts the operation state quantity included in the life formula, and outputs the extracted operation state quantity to the evaluation processing unit.
    The drive machine life evaluation apparatus according to claim 1, wherein:
  3. 　前記入力部は、前記寿命式の演算に含まれる前記動作状態量を抽出し、抽出した前記動作状態量を前記評価処理部に出力する旨の指令を、前記制御部に出力する、
    　ことを特徴とする請求項１に記載の駆動機寿命評価装置。     The input unit extracts the operation state quantity included in the calculation of the life formula, and outputs a command to the control unit to output the extracted operation state quantity to the evaluation processing unit;
    The drive machine life evaluation apparatus according to claim 1, wherein:
  4. 　前記評価処理部は、前記寿命の評価の結果を前記制御部に出力し、
    　前記制御部は、入力された前記寿命の評価の結果が、前記駆動機が寿命を迎えていると評価する内容のものである場合、警告を発させる、
    　ことを特徴とする請求項１から３のいずれか１つに記載の駆動機寿命評価装置。     The evaluation processing unit outputs a result of the life evaluation to the control unit,
    The control unit issues a warning if the input result of the evaluation of the life is content that evaluates that the drive unit has reached the end of its life,
    The drive life evaluation apparatus according to any one of claims 1 to 3, wherein:
  5. 　前記評価処理部による前記演算の結果を保存する記憶部と、
    　前記記憶部に保存された前記演算の結果を出力して表示する表示部と、
    　を備えることを特徴とする請求項１から４のいずれか１つに記載の駆動機寿命評価装置。     A storage unit for storing a result of the calculation by the evaluation processing unit;
    A display unit for outputting and displaying the calculation result stored in the storage unit;
    The drive unit life evaluation apparatus according to any one of claims 1 to 4, further comprising:
  6. 　前記評価処理部は、前記寿命の評価の結果を前記制御部に出力し、
    　前記制御部は、前記寿命の評価の結果に基づいて、前記寿命式を満たしている状態から満たしていない状態に切り換わった時点、または前記寿命式を満たしていない状態から満たしている状態に切り換わった時点の前記動作状態量を前記記憶部に保存させる、
    　ことを特徴とする請求項５に記載の駆動機寿命評価装置。     The evaluation processing unit outputs a result of the life evaluation to the control unit,
    Based on the result of the life evaluation, the control unit switches from a state where the life formula is satisfied to a state where the life formula is not satisfied, or from a state where the life formula is not satisfied to a state where the life formula is satisfied. The operation state quantity at the time of replacement is stored in the storage unit,
    The drive machine life evaluation apparatus according to claim 5.
  7. 　前記寿命式は、前記動作状態量をパラメータとして含む計算式、寿命閾値及び前記計算式と前記寿命閾値とを結ぶ等号又は不等号からなり、
    　前記評価処理部は、前記動作状態量を用いて前記計算式を計算し、前記計算の結果と前記寿命閾値とを比較して、前記寿命式を満たすか否かを判定することにより寿命を評価する、
    　ことを特徴とする請求項１から６のいずれか１つに記載の駆動機寿命評価装置。     The life formula includes a calculation formula including the operation state quantity as a parameter, a life threshold value, and an equal sign or an inequality sign connecting the calculation formula and the life threshold value,
    The evaluation processing unit calculates the calculation formula using the operation state quantity, compares the result of the calculation with the lifetime threshold, and evaluates the lifetime by determining whether or not the lifetime formula is satisfied. To
    The drive life evaluation apparatus according to any one of claims 1 to 6, wherein:
  8. 　モータと負荷装置とを有する駆動機の寿命を評価する駆動機寿命評価方法であって、
    　前記寿命の評価に用いられる寿命式の入力を受け付ける工程と、
    　前記駆動機から出力されるフィードバック値に基づいて前記駆動機の動作状態量を取得し、前記フィードバック値を外部から入力される動作目標値に追従させる工程と、
    　前記動作状態量を用いて前記寿命式の演算を実行し、前記演算の結果により寿命を評価する工程と、
    　を備えることを特徴とする駆動機寿命評価方法。     A drive life evaluation method for evaluating the life of a drive having a motor and a load device,
    Receiving an input of a life formula used for the life evaluation;
    Obtaining an operating state quantity of the driving machine based on a feedback value output from the driving machine, and causing the feedback value to follow an operation target value input from the outside;
    Performing the operation of the life formula using the operation state quantity, and evaluating the life based on the result of the operation;
    A drive machine life evaluation method comprising:
PCT/JP2015/058130 2015-03-18 2015-03-18 Drive machine service life evaluation device and drive machine service life evaluation method WO2016147360A1 (en)

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PCT/JP2015/058130 WO2016147360A1 (en) 2015-03-18 2015-03-18 Drive machine service life evaluation device and drive machine service life evaluation method
JP2016516105A JP5968579B1 (en) 2015-03-18 2015-03-18 Drive life evaluation apparatus and drive life evaluation method
KR1020177010691A KR20170046806A (en) 2015-03-18 2015-03-18 Drive machine service life evaluation device and drive machine service life evaluation method
CN201580058669.9A CN107076646A (en) 2015-03-18 2015-03-18 Driving machine life assessment device and driving machine life assessment method
TW105107896A TWI624652B (en) 2015-03-18 2016-03-15 Driving machine lifetime evaluation device and method for evaluating lifetime of driving machine

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