WO2022102585A1 - 電動機が出力する回転力を伝達する動力伝達機構の異常を検出する異常検出装置 - Google Patents
電動機が出力する回転力を伝達する動力伝達機構の異常を検出する異常検出装置 Download PDFInfo
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- WO2022102585A1 WO2022102585A1 PCT/JP2021/041030 JP2021041030W WO2022102585A1 WO 2022102585 A1 WO2022102585 A1 WO 2022102585A1 JP 2021041030 W JP2021041030 W JP 2021041030W WO 2022102585 A1 WO2022102585 A1 WO 2022102585A1
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- 230000005856 abnormality Effects 0.000 title claims abstract description 118
- 238000001514 detection method Methods 0.000 title claims abstract description 80
- 230000007246 mechanism Effects 0.000 title claims description 73
- 230000005540 biological transmission Effects 0.000 title claims description 68
- 230000002159 abnormal effect Effects 0.000 claims abstract description 21
- 230000008859 change Effects 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 16
- 230000009467 reduction Effects 0.000 claims description 13
- 239000003638 chemical reducing agent Substances 0.000 description 147
- 230000036544 posture Effects 0.000 description 7
- 238000003860 storage Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 210000000078 claw Anatomy 0.000 description 2
- 239000000470 constituent Substances 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
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- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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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
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/022—Power-transmitting couplings or clutches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/103—Gears specially adapted therefor, e.g. reduction gears with backlash-preventing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
Definitions
- the present invention relates to an abnormality detection device that detects an abnormality in a power transmission mechanism that transmits a rotational force output by an electric motor.
- the rotational force output from the motor is transmitted to other members via the power transmission mechanism.
- a power transmission mechanism for example, a speed reducer that increases the rotational force output from an electric motor and transmits it to other members is known.
- Power transmission mechanisms such as speed reducers deteriorate and break down when used for a long period of time.
- a control of acquiring a rotation angle from an encoder attached to an electric motor and detecting a tooth skipping of a gear arranged inside the reducer based on the rotation angle For example, Japanese Unexamined Patent Publication No. 2020-104177 and International Publication No. 2014/098008). Further, as a method of using the encoder attached to the motor, there is known a control of arranging an encoder on the output shaft of the reducer to correct a position shift due to a twist caused in the reducer (for example, Japanese Patent Application Laid-Open No. 2012-). No. 171069).
- Motors and power transmission mechanisms are installed in many machines.
- a mechanism in which a member such as an arm is rotated by decelerating a rotational force output by an electric motor with a speed reducer at each joint portion.
- the internal parts of the power transmission mechanism are driven in contact with each other. Parts inside the power transmission mechanism may wear. As a result, the rattling (play) between the internal parts becomes large. For example, the wear of the gears increases the backlash between the gears. As the wear of internal components progresses, the power transmission device fails and becomes unusable.
- Machines may be used on production lines that manufacture products. In this case, if the machine suddenly fails, it will have a great impact on the production line on which the machine was used.
- an electric motor and a power transmission mechanism are used in the transport machine, if the transport machine fails, the desired transport cannot be performed.
- Machines equipped with motors and power transmission mechanisms preferably do not fail at unexpected times. It is preferable to be able to detect an abnormality in the power transmission mechanism before a failure that makes the machine unusable occurs.
- the abnormality detection device of the first aspect of the present disclosure detects an abnormality of the power transmission mechanism that transmits the rotational force output by the electric motor.
- the abnormality detector includes a first rotation position detector for detecting the rotation angle of the input shaft of the power transmission mechanism and a second rotation position detector for detecting the rotation angle of the output shaft of the power transmission mechanism. , It is provided with an operation control unit that controls the operation of the electric motor.
- the abnormality detection device includes a detection unit that detects an abnormality in the power transmission mechanism based on the output of the first rotation position detector and the output of the second rotation position detector.
- the motion control unit controls the motor so that the position acquired from the output of the second rotation position detector corresponds to the position defined in the motion program.
- the detection unit is a rotation angle acquired from the output of the first rotation position detector based on the output of the first rotation position detector, the output of the second rotation position detector, and the reduction ratio of the power transmission mechanism.
- the detection unit includes a determination unit that determines whether or not the power transmission mechanism is abnormal based on variables.
- the abnormality detection device of the second aspect of the present disclosure detects an abnormality of the power transmission mechanism that transmits the rotational force output by the electric motor.
- the abnormality detector includes a first rotation position detector for detecting the rotation angle of the input shaft of the power transmission mechanism and a second rotation position detector for detecting the rotation angle of the output shaft of the power transmission mechanism. , It is provided with an operation control unit that controls the operation of the electric motor.
- the abnormality detection device includes a detection unit that detects an abnormality in the power transmission mechanism based on the output of the first rotation position detector.
- the motion control unit controls the motor so that the position acquired from the output of the second rotation position detector corresponds to the position defined in the motion program.
- the detection unit includes a variable setting unit that sets a variable including the rotation angle acquired from the output of the first rotation position detector without including the rotation angle acquired from the output of the second rotation position detector. ..
- the detection unit includes a determination unit that determines whether or not the power transmission mechanism is abnormal based on variables.
- an abnormality detection device that accurately detects an abnormality in the power transmission mechanism.
- FIG. 3 is an enlarged partial cross-sectional view of a joint portion of a robot according to an embodiment. It is a graph which shows the operation pattern of a servomotor. It is a graph of the rotation angle based on the output of the encoder when the reducer is new. It is a graph of the rotation angle based on the output of the encoder when the wear of the gear of the reduction gear progresses. It is an enlarged view of the part A in FIG. It is a first enlarged sectional view of the part where the teeth of two gears come into contact with each other.
- the power transmission mechanism transmits the rotational force output by the motor to other members.
- Motors and power transmission mechanisms are arranged in various machines such as machines that convey objects, machines that move objects, or machines that manufacture objects.
- a robot will be described as an example as a machine.
- a speed reducer arranged at a joint portion of the robot will be described as an example.
- FIG. 1 is a schematic diagram of a robot device according to the present embodiment.
- FIG. 2 is a block diagram of the robot device of the present embodiment.
- the robot device 5 of the present embodiment conveys a work.
- the robot device 5 includes a hand 2 as a work tool for gripping the work, and a robot 1 for moving the hand 2.
- the robot 1 of the present embodiment is an articulated robot including a plurality of joint portions 18a, 18b, 18c.
- the robot 1 includes a base portion 14 fixed to the installation surface and a swivel base 13 supported by the base portion 14.
- the swivel base 13 rotates with respect to the base portion 14.
- the robot 1 includes an upper arm 11 and a lower arm 12.
- the lower arm 12 is supported by the swivel base 13 via the joint portion 18a.
- the upper arm 11 is supported by the lower arm 12 via the joint portion 18b.
- Robot 1 includes a list 15 attached to the end of the upper arm 11.
- the wrist 15 is supported by the upper arm 11 via the joint portion 18c.
- Listing 15 includes a flange 16 that secures the hand 2.
- the robot 1 of the present embodiment has six drive shafts.
- the robot 1 includes a servomotor 27 and a speed reducer 30 as electric motors for driving each component.
- the servomotor 27 and the speed reducer 30 are arranged for each drive shaft.
- the hand 2 of the present embodiment includes a hand drive motor 21 that drives the hand 2.
- the claw portion of the hand 2 opens and closes when the hand drive motor 21 is driven.
- the claw portion may be formed so as to be operated by air pressure. Further, any work tool can be attached to the robot according to the work performed by the robot device.
- the robot device 5 includes a robot control device 4 that controls the robot 1 and the hand 2.
- the robot control device 4 includes an arithmetic processing unit (computer) having a CPU (Central Processing Unit) as a processor.
- the arithmetic processing device has a RAM (RandomAccessMemory), a ROM (ReadOnlyMemory), and the like connected to the CPU via a bus.
- An operation program 41 created in advance for controlling the robot 1 and the hand 2 is input to the robot control device 4.
- the robot 1 and the hand 2 are controlled based on the operation program 41.
- the robot control device 4 includes a storage unit 42 that stores predetermined information.
- the storage unit 42 stores information related to the control of the robot 1 and the hand 2.
- the storage unit 42 can be composed of a non-temporary recording medium capable of storing information such as a volatile memory, a non-volatile memory, or a hard disk.
- the robot control device 4 includes a display 46 that displays arbitrary information about the robot device 5.
- the display 46 can be configured by a display panel such as a liquid crystal display panel.
- the robot control device 4 includes an operation control unit 43 that sends an operation command for the robot 1 and the hand 2.
- the operation control unit 43 controls the operation of the servo motor 27 and the operation of the hand drive motor 21.
- the operation control unit 43 corresponds to a processor driven according to the operation program 41.
- the motion control unit 43 is formed so that the information stored in the storage unit 42 can be read.
- the processor functions as the operation control unit 43 by reading the operation program 41 stored in the storage unit 42 and performing the control defined in the operation program 41.
- the operation control unit 43 sends an operation command for driving the robot 1 to the robot drive unit 45 based on the operation program 41.
- the robot drive unit 45 includes an electric circuit that drives the servomotor 27.
- the robot drive unit 45 supplies electricity to the servomotor 27 based on the operation command.
- the operation control unit 43 sends an operation command for driving the hand 2 to the hand drive unit 44 based on the operation program 41.
- the hand drive unit 44 includes an electric circuit for driving the hand drive motor 21.
- the hand drive unit 44 supplies electricity to the hand drive motor 21 based on the operation command.
- a speed reducer 30 as a power transmission mechanism is arranged at a joint portion of the robot 1.
- the robot device 5 includes an abnormality detection device that detects an abnormality in the speed reducer 30.
- the abnormality detection device of the present embodiment includes a robot control device 4, a first encoder 23 as a first rotation position detector for detecting the rotation angle of the output shaft of the servomotor 27, and a speed reducer 30. It includes a second encoder 24 as a second rotation position detector for detecting the rotation angle of the output shaft.
- the rotation angle of the output shaft of the servomotor 27 corresponds to the rotation angle of the input shaft of the speed reducer 30.
- the robot control device 4 includes a detection unit 51 that detects an abnormality in the speed reducer 30 based on the output of the first encoder 23 and the output of the second encoder 24.
- the detection unit 51 includes a state acquisition unit 52 that acquires the operation state of the robot.
- the detection unit 51 includes a variable setting unit 53 that sets variables for determining an abnormality of the speed reducer 30.
- the detection unit 51 includes a determination unit 54 that determines whether or not the speed reducer 30 is abnormal based on variables.
- the detection unit 51 includes an estimation unit 55 that estimates the number of executions or the drive time of work that causes an abnormality in the future.
- the detection unit 51 includes a torsion angle calculation unit 56 that calculates a torsion angle between the input shaft and the output shaft of the reduction gear 30 based on the torque applied to the reduction gear 30.
- the above-mentioned detection unit 51 corresponds to a processor driven according to the operation program 41. Further, each unit of the state acquisition unit 52, the variable setting unit 53, the determination unit 54, the estimation unit 55, and the helix angle calculation unit 56 included in the detection unit 51 corresponds to a processor driven according to the operation program 41.
- the processor reads the operation program 41 and performs the control defined in the operation program 41 to function as each unit.
- the servomotor 27 as an electric motor and the deceleration as a power transmission mechanism are arranged in the joint portion 18a between the swivel base 13 and the lower arm 12.
- the machine 30 will be described.
- FIG. 3 is an enlarged partial cross-sectional view of a joint portion arranged between the swivel base and the lower arm.
- the lower arm 12 rotates with respect to the swivel base 13.
- a servomotor 27 that drives the lower arm 12 with respect to the turning base 13 and a speed reducer 30 that increases the output torque of the servomotor 27 are arranged in the joint portion 18a.
- the servomotor 27 is fixed to the swivel base 13 by bolts 29.
- the servomotor 27 includes an output shaft 28 that projects toward the speed reducer 30 and outputs a rotational force.
- the speed reducer 30 includes an input shaft 32 to which the rotational force of the output shaft 28 of the servomotor 27 is input.
- the speed reducer 30 can reduce the rotation speed of the input shaft 32 of the speed reducer 30 to increase the rotation torque.
- the speed reducer 30 includes a plurality of gears that transmit the rotational force of the input shaft 32, and an output shaft 33 that supports the plurality of gears.
- the speed reducer 30 includes a speed reducer case 31 formed so as to surround the output shaft 33.
- the speed reducer case 31 is formed in a cylindrical shape.
- the input shaft 32 is rotatably supported by the output shaft 33.
- the output shaft 33 is supported so as to rotate relative to the speed reducer case 31.
- the reducer case 31 is fixed to the swivel base 13 with bolts 37. Further, the output shaft 33 of the speed reducer 30 is fixed to the lower arm 12 by bolts 36.
- the input shaft 32 of the speed reducer 30 is connected to the output shaft 28 of the servomotor 27.
- the output shaft 28 and the input shaft 32 rotate around the rotation shaft RA.
- the rotation axis RA is the rotation axis of the joint portion 18a.
- the reducer case 31 is immovable.
- the output shaft 33 rotates with respect to the speed reducer case 31 due to the transmission of the rotational force of the gear.
- the lower arm 12 rotates together with the output shaft 33.
- a speed reducer 30 for example, an eccentric swing type planetary gear speed reducer can be adopted.
- the speed reducer is not limited to this form, and a speed reducer having an arbitrary mechanism for changing the rotational force can be adopted.
- the servomotor 27 is equipped with a first encoder 23 for detecting the rotational position of the output shaft 28 of the servomotor 27.
- the rotation position of the output shaft 28 of the servomotor 27 corresponds to the rotation position of the input shaft 32 of the speed reducer 30. That is, the first encoder 23 is arranged so that the rotation position of the input shaft 32 of the speed reducer 30 can be detected.
- a second encoder 24 for detecting the rotation position of the output shaft 33 of the speed reducer 30 is arranged.
- the second encoder 24 has a scale 24a and a detection unit 24b arranged so as to face the scale 24a.
- the scale 24a is fixed to the surface of the lower arm 12.
- the scale 24a has a shape extending in the circumferential direction about the rotation axis RA.
- the detection unit 24b is supported by the swivel base 13 via the support member 25.
- a magnetic ring can be adopted as the scale 24a, and a magnetic sensor can be adopted as the detection unit 24b.
- the surface of the scale 24a facing the detection unit 24b can be magnetized with S poles and N poles at regular intervals so that the detection unit 24b can detect a change in magnetic flux.
- the second encoder is not limited to this form, and an optical encoder may be adopted.
- the scale 24a is attached to the surface of the lower arm 12, but the present invention is not limited to this embodiment.
- the second encoder can be arranged at an arbitrary position so as to detect the rotational position of the output shaft of the reducer.
- the scale may be attached to the output shaft of the reducer.
- the first encoder and the second encoder may be either an incremental type encoder or an absolute type encoder.
- the motion control unit 43 of the present embodiment controls the rotational position of the servomotor 27 in order to control the position of the robot 1.
- the position of the robot 1 is, for example, the position of the tool tip point of the work tool.
- the position of the tip point of the work tool is determined by the position and posture of the swivel base 13, the lower arm 12, the upper arm 11, and the wrist 15.
- the rotation position of the servomotor 27 is controlled based on the rotation position output from the first encoder 23.
- the parts of the speed reducer may be deformed or distorted due to the force associated with the drive. As a result, a twist may occur between the input shaft and the output shaft of the reducer. Therefore, the rotation position of the output shaft 33 of the speed reducer 30 may deviate from the rotation position of the output shaft 28 of the servomotor 27.
- a second encoder 24 for detecting the rotational position of the output shaft 33 of the speed reducer 30 is arranged.
- the motion control unit 43 of the present embodiment controls the position and posture of the robot 1 based on the rotation position output from the second encoder 24.
- the operation control unit 43 generates a position command for the servomotor 27 based on the operation program 41.
- the operation control unit 43 acquires the rotation position from the second encoder 24.
- the operation control unit 43 generates a position command so that the rotation position output from the second encoder 24 corresponds to the position defined in the operation program 41. In this way, position feedback control can be performed.
- the motion control unit 43 generates a speed command based on the position command.
- the motion control unit 43 calculates the rotation speed based on the rotation position output from the second encoder 24.
- the motion control unit 43 generates a speed command so that the actual rotation speed corresponds to the rotation speed based on the motion program 41. In this way, speed feedback control can be performed.
- the accuracy of the position and posture of the robot 1 is improved.
- the accuracy of the movement path in which the position of the robot 1 moves is improved.
- the detection unit 51 of the abnormality detection device determines the abnormality of the parts arranged inside the speed reducer 30.
- the detection unit 51 detects an abnormality due to wear of parts.
- the gears arranged inside the speed reducer 30 are worn.
- the bearing arranged inside the speed reducer 30 may be worn.
- the rolling element or the raceway ring of the rolling bearing may be worn by the operation of the robot.
- the detection unit 51 of the present embodiment detects an abnormality such as an increase in rattling of a component that occurs before a large abnormality such as tooth skipping.
- FIG. 4 shows a graph illustrating one operation pattern of the servomotor in the present embodiment.
- the robot device 5 repeatedly carries out the work of transporting the work.
- the robot 1 changes its position and posture in various patterns.
- FIG. 4 shows the operation of the servomotor 27 corresponding to one operation of the robot 1. After the servomotor 27 is started at the time ts, the predetermined rotation speed is reached. The servomotor 27 is stopped at time te after being driven in a state where the rotation speed is constant. In order to detect an abnormality in the speed reducer 30, such an operation pattern of the servomotor 27 is selected in advance.
- FIG. 5 shows a graph of the rotation angle based on the output of the encoder when the servomotor is driven by the operation pattern shown in FIG.
- the operation is started at time ts and ends at time te.
- the rotation angle indicates the amount of rotation when rotated by the motor. For example, when the output shaft makes one rotation, the rotation angle becomes 360 °. Over time, the angle of rotation obtained from the output of each encoder increases as shown by arrow 92.
- FIG. 5 shows a rotation angle based on the output of the first encoder 23 and a rotation angle based on the output of the second encoder 24 in one operation of the robot.
- the rotation angle of the input shaft 32 of the speed reducer 30 is calculated from the rotation position output from the first encoder 23.
- the rotation angle of the input shaft 32 is divided by the reduction ratio of the speed reducer 30.
- it is compared with the rotation angle based on the rotation position output from the second encoder 24.
- the rotation angle based on the output of the second encoder may be multiplied by the reduction ratio and compared with the rotation angle based on the output of the first encoder.
- the state acquisition unit 52 of the detection unit 51 is output from the rotation position output from the first encoder 23 and the second encoder 24 during the period in which the servomotor 27 is being driven. Detect the rotation position.
- the state acquisition unit 52 stores the acquired rotation position of each encoder in the storage unit 42.
- FIG. 5 shows the rotation angle when the speed reducer 30 is normal.
- the rotation angle in the initial state when the speed reducer 30 is new is shown.
- the angle of rotation is almost the same.
- the difference between the rotation angle acquired from the output of the first encoder 23 and the rotation angle acquired from the output of the second encoder 24 is referred to as an angle difference.
- the angle difference corresponds to a value ( ⁇ 1- ⁇ 2) obtained by subtracting the rotation angle ⁇ 2 acquired from the output of the second encoder 24 from the rotation angle ⁇ 1 acquired from the output of the first encoder 23.
- ⁇ 1- ⁇ 2 a value obtained by subtracting the rotation angle ⁇ 2 acquired from the output of the second encoder 24 from the rotation angle ⁇ 1 acquired from the output of the first encoder 23.
- ⁇ 12i a slight angle difference ⁇ 12i in the angle of rotation.
- FIG. 6 shows a graph of the rotation angle based on the output of the encoder when the wear of the parts of the speed reducer progresses.
- FIG. 7 shows an enlarged view of part A in FIG.
- FIG. 7 is a graph near the time ts when the measurement of the rotation angle is started.
- the position of the robot 1 is controlled based on the output of the second encoder 24.
- the rotation angle acquired from the output of the second encoder 24 is set to 0 at the predetermined time ts when the operation of the robot 1 is started.
- an angle difference ⁇ 12 is generated based on the rotation angle ⁇ 1 acquired from the output of the first encoder 23 and the rotation angle ⁇ 2 acquired from the output of the second encoder 24.
- the angle difference ⁇ 12 can be a positive number or a negative number depending on the contact state of the teeth of the gear.
- FIG. 8 shows a first enlarged cross-sectional view of a portion where the teeth of the two gears are in contact with each other.
- FIG. 9 shows a second enlarged cross-sectional view of the portion where the teeth of the two gears are in contact with each other.
- 8 and 9 are schematic views showing the difference in the contact state of the teeth of the gears facing each other.
- the gear 71 on the input side rotates in the direction indicated by the arrow 98.
- the teeth of the gear 71 on the input side shown in FIG. 8 are in contact with the teeth of the gear 72 on the output side on the tooth surface on the rotation direction side.
- FIG. 8 shows a first enlarged cross-sectional view of a portion where the teeth of the two gears are in contact with each other.
- FIG. 9 shows a second enlarged cross-sectional view of the portion where the teeth of the two gears are in contact with each other.
- 8 and 9 are schematic views showing the difference in the contact state of the teeth of the gears facing each other.
- the tooth of the gear 71 on the input side is in contact with the tooth of the gear 72 on the output side on the tooth surface opposite to the rotation direction.
- the difference in the contact state of these teeth is caused by gravity, inertial force when the robot operates, or other external force.
- the angle difference is not limited to the value ( ⁇ 1- ⁇ 2) obtained by subtracting the rotation angle ⁇ 2 acquired from the output of the second encoder 24 from the rotation angle ⁇ 1 acquired from the output of the first encoder 23, and is not limited to rotation.
- a value ( ⁇ 2- ⁇ 1) obtained by subtracting the rotation angle ⁇ 1 from the angle ⁇ 2 may be adopted.
- the absolute value of the rotation angle obtained from the output of the first encoder 23 and the rotation angle obtained from the output of the second encoder 24 obtained by subtracting the other rotation angle from the rotation angle is adopted. It doesn't matter.
- the angle difference ⁇ 12 is ( ⁇ 1- ⁇ 2) and the gears come into contact with each other as shown in FIG. 8 will be described.
- the abnormality of the speed reducer 30 is detected based on the variable including the angle difference.
- the variable of this embodiment is an evaluation variable for evaluating whether or not the speed reducer 30 is abnormal.
- the variable setting unit 53 calculates the angle difference ⁇ 12 as the first variable.
- the variable setting unit 53 divides the rotation angle acquired from the output of the first encoder 23 by the reduction ratio of the speed reducer 30.
- the variable setting unit 53 calculates the angle difference ⁇ 12 obtained by subtracting the rotation angle acquired from the output of the second encoder 24 from this rotation angle.
- the determination unit 54 determines whether or not an abnormality has occurred in the speed reducer 30.
- the variable setting unit 53 can adopt the maximum value of the angle difference ⁇ 12 from the time ts to the time te as the angle difference ⁇ 12 used for determining the abnormality.
- a plurality of times may be set and the average value of the variables at the plurality of times may be adopted.
- the angle difference ⁇ 12 may be converted into an absolute value before calculating the maximum value or the average value.
- the maximum value or the average value when the operation pattern of the servomotor 27 is carried out can be adopted as the variable used for determining the abnormality.
- FIG. 10 shows a graph of variables with respect to the number of times the robot moves.
- the horizontal axis is the number of times the predetermined operation of the robot 1 is executed.
- the horizontal axis corresponds to, for example, the number of times the servomotor 27 has executed the predetermined operation shown in FIG.
- the horizontal axis may be the drive time when the robot 1 executes a predetermined operation.
- the vertical axis is a variable for determining whether or not an abnormality has occurred in the speed reducer 30.
- the determination unit 54 determines that an abnormality has occurred when the variable VX exceeds the determination value.
- the determination unit 54 determines that an abnormality has occurred when the number of executions N is completed. For example, when the angle difference ⁇ 12 as the first variable exceeds the determination value, it can be determined that the speed reducer 30 is abnormal. Alternatively, the determination unit 54 can determine that the wear of the gear is progressing.
- FIG. 11 shows another graph of variables with respect to the number of times the robot moves.
- the determination unit 54 determines that the speed reducer 30 is abnormal when the rate of change of the variable VX with respect to the number of times the work is executed deviates from a predetermined determination range.
- the slope of the variable VX at the number of executions (N-1) and the variable VX at the number of executions N is calculated.
- the determination unit 54 determines that the speed reducer 30 is abnormal when the slope of the variable VX exceeds a predetermined determination value. That is, the determination unit 54 determines that the speed reducer 30 is abnormal when the inclination of the straight line 80 exceeds the determination value. For example, when the rate of change of the angle difference ⁇ 12 as the first variable exceeds the determination value, it is determined that the speed reducer 30 is abnormal.
- the rate of change is not limited to two variables, and the rate of change may be calculated based on three or more variables.
- the drive time in which the robot 1 or the servomotor 27 executes a predetermined operation may be adopted.
- the determination unit can determine that the speed reducer is abnormal when the rate of change of the variable with respect to the drive time deviates from a predetermined determination range.
- FIG. 12 shows a graph of the amount of increase in the variable with respect to the number of times the robot moves.
- the abnormality of the speed reducer is determined based on the number of times the work is executed or the rate of change of the variable with respect to the drive time.
- the determination unit 54 calculates the amount of increase in the variable VX for each number of times a predetermined operation is executed.
- the amount of increase in the variable VX is calculated every time the operation of the robot 1 is performed 10,000 times.
- the amount of increase in the variable VX increases.
- the determination unit 54 determines that the speed reducer is abnormal when the increase amount of the variable VX deviates from a predetermined determination range.
- the determination unit 54 can determine that the speed reducer 30 is abnormal when the amount of increase in the angle difference ⁇ 12 every 10,000 times exceeds a predetermined determination value.
- the determination unit 54 can determine that an abnormality has occurred in the speed reducer when the number of executions reaches N times.
- the amount of increase of the variable can be calculated for each predetermined length of the drive time.
- the estimation unit 55 performs estimation control for estimating the number of executions or drive time of work in which an abnormality occurs in the future, based on the value of the variable with respect to the number of executions or drive time of the past work.
- FIG. 13 shows a graph of variables with respect to the number of times the robot moves.
- FIG. 13 is a graph illustrating control for estimating the number of executions of work in which an abnormality occurs in the estimation unit 55.
- the variable VX increases as the number of executions increases, as shown by arrow 93.
- the estimation unit 55 calculates an approximation line 81 indicating the tendency of change of the variable based on the value of the variable with respect to the number of executions of the past work. For example, an approximate line for the angle difference ⁇ 12 as the first variable can be calculated.
- the estimation unit 55 can generate an approximate line showing a change tendency by arbitrary control.
- the approximate line 81 of a straight line is generated by the least squares method using the values of all the variables VX in the past.
- the approximate line is not limited to a straight line, but may be a curved line. Further, when generating an approximate line, a predetermined number of variables may be selected to generate an approximate line.
- the estimation unit 55 estimates the number of executions of work whose approximation line deviates from a predetermined determination range as the number of executions of work in which an abnormality will occur in the future.
- the number of executions NX in which the approximation line 81 exceeds a predetermined determination value is estimated as the number of executions in which an abnormality occurs.
- the estimation unit 55 may adopt the drive time instead of the number of executions. That is, the estimation unit may calculate an approximate line indicating the tendency of the variable to change with respect to the drive time, and may estimate the drive time at which the approximate line deviates from the determination range as the drive time at which an abnormality occurs.
- information on the abnormality detected by the detection unit 51 can be displayed on the display 46.
- the operator can check the information regarding the abnormality displayed on the display 46 and plan the maintenance or inspection of the speed reducer 30. As a result, it is possible to prevent the speed reducer 30 from suddenly failing.
- variable VX is not limited to the angle difference as the first variable, and a variable including the angle difference can be adopted.
- the variable setting unit 53 determines the difference ( ⁇ 12 ⁇ 12i) between the angle difference ⁇ 12i when the speed reducer 30 is normal and the angle difference ⁇ 12 of the current speed reducer 30. It can be calculated as a variable VX.
- the variable setting unit 53 can calculate the ratio ( ⁇ 12 / ⁇ 12i) between the predetermined angle difference when the speed reducer 30 is normal and the current speed reducer and the angle difference as the third variable VX. ..
- a predetermined angle difference when the speed reducer 30 is normal the angle difference in the initial state when the speed reducer 30 is new is adopted.
- the variable setting unit 53 can calculate the angle difference when the speed reducer 30 is new and store it in the storage unit 42.
- variable setting unit 53 converts the difference between the angle difference ( ⁇ 12i) when the speed reducer 30 is normal and the angle difference ( ⁇ 12) when the speed reducer 30 is normal into the angle difference when the speed reducer 30 is normal.
- the value divided by ( ⁇ 12 ⁇ 12i) / ⁇ 12i) can be calculated as the fourth variable VX.
- the abnormality of the speed reducer 30 can be determined. Further, the estimation unit 55 can estimate the time when the abnormality occurs by performing the above-mentioned estimation control using each variable.
- FIG. 14 shows another operation pattern of the servomotor that determines whether or not an abnormality has occurred in the reducer.
- the servomotor 27 is temporarily stopped during the period from time ts to time te.
- the servomotor 27 is stopped at time th1 and the servomotor 27 is started at time th2.
- the variable setting unit 53 may calculate the variable based on the output of the encoder during the period when the servomotor 27 is stopped. For example, when calculating the angle difference ⁇ 12 which is the first variable, the variable setting unit 53 may calculate the angle difference ⁇ 12 while the servomotor 27 is stopped.
- the angle difference when the speed reducer 30 is normal is included in the variables.
- the angle difference when the speed reducer 30 is normal is subtracted from the angle difference of the current speed reducer 30. Therefore, the influence of twisting in the speed reducer 30 is eliminated.
- the first variable the angle difference when the speed reducer 30 is normal is not included in the variable.
- the determination control is performed using the first variable, the influence of the twist of the speed reducer 30 is included.
- the helix angle calculation unit 56 of the detection unit 51 calculates the helix angle between the input shaft 32 and the output shaft 33 based on the torque applied to the output shaft 33 of the speed reducer 30.
- the helix angle ⁇ t can be expressed by the equation (2).
- ⁇ t T / k ... (2)
- the torque T can be calculated by using the inertia calculated in advance and the angular velocity of the servomotor 27 when driving the robot 1.
- the inertia can be calculated based on the weight and the position of the center of gravity of the constituent members of the robot 1 and the weight and the position of the center of gravity of the work.
- the torque T related to the weight of the component for maintaining the position of the robot 1 can be calculated.
- the torque T may be calculated using the current value of the servomotor 27. That is, the torque applied to the output shaft 28 of the servomotor 27 is calculated using the current value.
- the torque T can be calculated by multiplying the torque applied to the output shaft 28 by the reduction ratio.
- FIG. 15 shows a schematic diagram showing the operation of the robot for calculating the proportionality constant between the torque and the helix angle.
- the lower arm 12 is rotated as shown by the arrow 95.
- the robot 1 is stopped during this rotation operation. That is, the servomotor 27 arranged at the joint portion 18a is temporarily stopped.
- the robot 1 is stopped when the lower arm 12 rotates from the moving point MPa to the moving point MPb.
- the torque Ta and the angle difference ⁇ 12a are calculated.
- the lower arm 12 is rotated from the moving point MPb to the moving point MPc to stop the robot 1.
- the torque Tb and the angle difference ⁇ 12b are calculated.
- the following equations (4) and (5) hold at the two moving points MPb and MPc.
- the rattling component BL can be considered to be constant at the moving point MPb and the moving point MPc.
- the proportionality constant k can be obtained in advance for each speed reducer.
- the helix angle calculation unit 56 can calculate the helix angle ⁇ t by the equation (2) using the proportionality constant k, the position and attitude of the robot 1 acquired by the state acquisition unit 52, and the angular velocity of the servomotor 27. ..
- the variable setting unit 53 can set a value ( ⁇ 12 ⁇ t) obtained by subtracting the helix angle ⁇ t from the angle difference ⁇ 12 based on the output of the first encoder 23 and the output of the second encoder 24 as a variable.
- the determination unit 54 can perform the first determination control to the third determination control using the calculated variable.
- the estimation unit 55 can estimate the time when the abnormality occurs by using the calculated variable. The estimation unit 55 can more accurately estimate the time when the failure occurs.
- the second abnormality detection control for detecting the abnormality of the speed reducer 30 in the present embodiment will be described.
- a variable including the rotation angle acquired from the output of the first encoder 23 is used without including the rotation angle acquired from the output of the second encoder 24.
- the abnormality of the speed reducer 30 is determined.
- the first determination control to the third determination control for determining the abnormality of the speed reducer 30 are the same as the first abnormality detection control.
- the estimation control for estimating the time when the abnormality of the speed reducer 30 occurs is the same as the above-mentioned control.
- FIG. 16 shows a graph of the rotation angle with respect to the time for explaining the second abnormality detection control in the present embodiment.
- FIG. 16 shows an example in which the servomotor 27 is stopped during the operation period of the robot 1.
- the vertical axis is the angle of rotation based on the output of each encoder.
- FIG. 17 shows an enlarged view of the graph in the vicinity of the time when the measurement of the rotation angle is started.
- FIG. 17 is an enlarged view of a portion B in FIG. 16 and 17 show the rotation angle based on the output of the first encoder 23 when the speed reducer 30 is new as the initial state of the speed reducer 30. Further, the rotation angle based on the output of the first encoder 23 when the speed reducer 30 is driven for a long time and the wear progresses is described.
- the rotation position of the servomotor 27 is controlled based on the rotation position output from the second encoder 24. Therefore, the rotation angle ⁇ 2 based on the output of the second encoder 24 when the robot 1 performs a predetermined operation does not substantially change even if the parts of the speed reducer 30 are worn.
- the difference between the rotation angle ⁇ 1 based on the output of the first encoder 23 and the rotation angle ⁇ 2 based on the output of the second encoder 24 becomes large. It changes gradually. In the examples shown in FIGS. 16 and 17, the rotation angle ⁇ 1 is increased with respect to the rotation angle ⁇ 2.
- the abnormality of the speed reducer 30 is determined based on the rotation angle ⁇ 1 acquired from the output of the first encoder 23.
- the variable setting unit 53 sets a variable including the rotation angle ⁇ 1 acquired from the output of the first encoder 23. Then, the determination unit 54 determines whether or not the speed reducer 30 is abnormal by the above-mentioned first determination control to the third determination control based on the variable determined by the variable setting unit 53.
- the first variable in the second abnormality detection control is the rotation angle ⁇ 1 obtained by dividing the rotation angle acquired from the output of the first encoder 23 by the reduction ratio.
- the determination unit 54 determines the abnormality of the speed reducer 30 based on the rotation angle ⁇ 1. For example, in the first determination control shown in FIG. 10, when the rotation angle ⁇ 1 exceeds a predetermined determination value, it can be determined that the speed reducer 30 is abnormal.
- the second variables in the second abnormality detection control include a predetermined rotation angle ⁇ 1i acquired from the output of the first encoder 23 when the speed reducer 30 is normal, and the current first encoder 23.
- the difference ⁇ 11 from the rotation angle ⁇ 1 acquired from the output can be adopted.
- a value ( ⁇ 1- ⁇ 1i) obtained by subtracting the rotation angle ⁇ 1i when the speed reducer 30 is normal from the current rotation angle ⁇ 1 is adopted as the difference ⁇ 11.
- the determination unit 54 determines an abnormality in the speed reducer 30 based on the difference in rotation angles ⁇ 11. In this way, the amount of change in the angle of rotation obtained from the output of the first encoder 23 may be adopted as a variable.
- FIG. 18 shows a graph of the angle of rotation based on the output of the first encoder.
- the rotation angle shown in FIG. 18 is the difference in the rotation position (phase) output from the first encoder 23.
- the rotation angle may not be divided by the reduction ratio in order to make a determination based on the output of the first encoder 23.
- the angle of rotation is not divided by the reduction ratio.
- the predetermined rotation angle ⁇ 1i'based on the output of the first encoder 23 when the speed reducer 30 is normal and the rotation angle ⁇ 1'based on the output of the first encoder 23 when the parts are worn out are It is shown.
- the variable setting unit 53 can set the rotation angle ⁇ 1'output from the first encoder 23 to the third variable.
- the determination unit 54 determines the abnormality of the speed reducer 30 based on the rotation angle ⁇ 1'.
- the variable setting unit 53 sets the difference ( ⁇ 1'- ⁇ 1i') between the rotation angle ⁇ 1i'when the speed reducer 30 is normal and the current rotation angle ⁇ 1' as the rotation angle difference ⁇ 11', and sets the fourth. Can be set to a variable.
- the determination unit 54 determines the abnormality of the speed reducer 30 based on the difference in the rotation angle ⁇ 11'. As described above, in the second abnormality detection control, the abnormality can be determined without using the output from the second encoder.
- the difference between the rotation angle when the speed reducer 30 is normal and the current rotation angle may be a positive value or a negative value.
- the difference between the rotation angle when the speed reducer 30 is normal and the current rotation angle is not limited to the above-mentioned form, and is a value obtained by subtracting the current rotation angle from the rotation angle when the speed reducer 30 is normal.
- the absolute value of the value obtained by subtracting the other rotation angle from one rotation angle may be adopted.
- a device for detecting an abnormality of the speed reducer in the joint portion between the turning base and the lower arm is exemplified, but the present invention is not limited to this embodiment.
- the abnormality detection device of the present embodiment can be applied to the detection of an abnormality of the speed reducer of an arbitrary joint portion.
- the abnormality detection device of the present embodiment can detect an abnormality of a power transmission mechanism such as a speed reducer at an early stage. In particular, rattling due to wear of parts can be detected with high accuracy. Alternatively, it is possible to detect an abnormality due to deformation of a part or the like. For example, a maintenance or inspection plan for the reducer can be established before a failure such as tooth skipping occurs in the reducer. It is also possible to plan maintenance or inspection of the reducer before the accuracy of controlling the position and attitude of the robot deteriorates. Further, when the second encoder is arranged in order to accurately control the position of the constituent members of the machine, the abnormality of the power transmission mechanism can be detected without arranging an additional sensor.
- the abnormality detection device of the present embodiment can be applied to any machine having an electric motor and a power transmission mechanism.
- the power transmission mechanism for transmitting the rotational force of the motor to other members is not limited to the speed reducer, and any mechanism for transmitting the rotational force of the motor can be adopted.
- the power transmission mechanism a mechanism including a gear, a mechanism including a belt drive, a mechanism including a universal joint, a link mechanism, or the like can be adopted.
- a power transmission mechanism including a pulley and a belt will be described.
- FIG. 19 shows a schematic side view of the motor and other power transmission devices.
- a belt drive mechanism is adopted to supply a rotational force to a predetermined portion of the machine.
- the machine includes a servomotor 27 and a power transmission mechanism 59 that transmits the rotational force of the servomotor 27.
- the servomotor 27 is fixed to the support portion 67 of the base 60.
- the power transmission mechanism 59 includes an input shaft 63 connected to the output shaft 28 of the servomotor 27, and an output shaft 64 that transmits rotational force to other members.
- the input shaft 63 is supported by the support portions 67 and 68 of the base 60 via the bearing 65.
- the output shaft 64 is supported by the support portions 67 and 68 of the base 60 via the bearing 66.
- a pulley 61 is attached to the input shaft 63.
- a pulley 62 is attached to the output shaft 64.
- the belt 69 is engaged with the pulley 61 and the pulley 62.
- the servomotor 27 is driven, the belt 69 moves in the direction indicated by the arrow 94.
- the rotational force of the input shaft 63 is transmitted to the output shaft 64 by the belt 69.
- the rotation speed changes based on the size of the pulley 61 and the size of the pulley 62.
- a first encoder 23 is attached to the servomotor 27 in order to detect the rotation angle of the input shaft 63 of the power transmission mechanism 59. Further, in order to detect the rotation angle of the output shaft 64 of the power transmission mechanism 59, a second encoder 24 is attached to the output shaft 64.
- the phase of the output shaft 64 may deviate from the phase of the input shaft 63 due to deterioration of the belt 69.
- the rotation angle of the input shaft 63 may deviate from the rotation angle of the output shaft 64 due to the bending of the belt 69.
- the bearings 65 and 66 may be worn.
- the abnormality detection device detects the abnormality of the power transmission mechanism 59 by performing the same control as the first abnormality detection control and the second abnormality detection control described above. can do. Further, by carrying out the above-mentioned estimation control, it is possible to estimate the time when the abnormality occurs.
- Robot control device 23 1st encoder 24 2nd encoder 27 Servo motor 28 Output shaft 30 Reducer 32 Input shaft 33 Output shaft 41 Operation program 43 Operation control unit 51 Detection unit 53 Variable setting unit 54 Judgment unit 55 Estimating unit 56 Twist angle calculation unit 59 Power transmission mechanism 63 Input shaft 64 Output shaft 65,66 Bearing 81 Approximate line
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Abstract
Description
T=k×θt …(1)
θt=T/k …(2)
Δθ12=θt+BL …(3)
Δθ12a=Ta/k+BL …(4)
Δθ12b=Tb/k+BL …(5)
k=(Ta-Tb)/(Δθ12a-Δθ12b) …(6)
23 第1のエンコーダ
24 第2のエンコーダ
27 サーボモータ
28 出力軸
30 減速機
32 入力軸
33 出力軸
41 動作プログラム
43 動作制御部
51 検出部
53 変数設定部
54 判定部
55 推定部
56 ねじれ角算出部
59 動力伝達機構
63 入力軸
64 出力軸
65,66 軸受
81 近似線
Claims (12)
- 電動機が出力する回転力を伝達する動力伝達機構の異常を検出する異常検出装置であって、
動力伝達機構の入力軸の回転角を検出するための第1の回転位置検出器と、
動力伝達機構の出力軸の回転角を検出するための第2の回転位置検出器と、
電動機の動作を制御する動作制御部と、
第1の回転位置検出器の出力および第2の回転位置検出器の出力に基づいて、動力伝達機構の異常を検出する検出部と、を備え、
前記動作制御部は、第2の回転位置検出器の出力から取得される位置が動作プログラムに定められた位置に対応するように電動機を制御し、
前記検出部は、第1の回転位置検出器の出力、第2の回転位置検出器の出力、および動力伝達機構の減速比に基づいて、第1の回転位置検出器の出力から取得される回転角と第2の回転位置検出器の出力から取得される回転角との差である角度差を含む変数を設定する変数設定部と、前記変数に基づいて動力伝達機構が異常であるか否かを判定する判定部とを含む、異常検出装置。 - 前記変数設定部は、前記角度差を前記変数に設定する、請求項1に記載の異常検出装置。
- 前記変数設定部は、現在の動力伝達機構の前記角度差と動力伝達機構が正常な時の予め定められた前記角度差との差または比を前記変数として算出する、請求項1に記載の異常検出装置。
- 前記変数設定部は、現在の動力伝達機構の前記角度差と動力伝達機構が正常な時の予め定められた前記角度差との差を、動力伝達機構が正常な時の予め定められた前記角度差にて除算した値を前記変数として算出する、請求項1に記載の異常検出装置。
- 前記検出部は、動力伝達機構に加わるトルクに基づいて、入力軸と出力軸との間のねじれ角度を算出するねじれ角算出部を含み、
前記変数設定部は、前記角度差からねじれ角度を減算した値を前記変数として算出する、請求項2に記載の異常検出装置。 - 電動機が出力する回転力を伝達する動力伝達機構の異常を検出する異常検出装置であって、
動力伝達機構の入力軸の回転角を検出するための第1の回転位置検出器と、
動力伝達機構の出力軸の回転角を検出するための第2の回転位置検出器と、
電動機の動作を制御する動作制御部と、
第1の回転位置検出器の出力に基づいて、動力伝達機構の異常を検出する検出部と、を備え、
前記動作制御部は、第2の回転位置検出器の出力から取得される位置が動作プログラムに定められた位置に対応するように電動機を制御し、
前記検出部は、第2の回転位置検出器の出力から取得される回転角を含まずに、第1の回転位置検出器の出力から取得される回転角を含む変数を設定する変数設定部と、前記変数に基づいて動力伝達機構が異常であるか否かを判定する判定部とを含む、異常検出装置。 - 前記変数設定部は、第1の回転位置検出器の出力から取得される回転角を減速比で除算した回転角を前記変数として算出する、請求項6に記載の異常検出装置。
- 前記変数設定部は、第1の回転位置検出器から出力される回転角を前記変数に設定する、請求項6に記載の異常検出装置。
- 前記変数設定部は、現在の第1の回転位置検出器の出力から取得される回転角と動力伝達機構が正常な時の第1の回転位置検出器の出力から取得される予め定められた回転角との差を前記変数として算出する、請求項6に記載の異常検出装置。
- 前記判定部は、前記変数が予め定められた判定範囲を逸脱した時に、動力伝達機構が異常であると判定する、請求項1から9のいずれか一項に記載の異常検出装置。
- 前記判定部は、作業の実行回数または駆動時間に対する前記変数の変化率が予め定められた判定範囲を逸脱した時に、動力伝達機構が異常であると判定する、請求項1から9のいずれか一項に記載の異常検出装置。
- 前記検出部は、将来において異常が生じる作業の実行回数または駆動時間を推定する推定部を含み、
前記推定部は、過去の作業の実行回数または駆動時間に対する前記変数の値に基づいて前記変数の変化傾向を示す近似線を算出し、近似線が予め定められた判定範囲を逸脱する時の作業の実行回数または駆動時間を、将来に異常が生じる作業の実行回数または駆動時間として推定する、請求項1から9のいずれか一項に記載の異常検出装置。
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US18/034,940 US20230400384A1 (en) | 2020-11-12 | 2021-11-08 | Abnormality detection device which detects abnormalities in power transmission mechanism for transmitting rotational force outputted by motor |
DE112021004831.7T DE112021004831T5 (de) | 2020-11-12 | 2021-11-08 | Anomaliedetektionsvorrichtung, die anomalien in einem leistungsübertragungsmechanismus zum übertragen einer durch einen motor ausgegebenen drehkraft detektiert |
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JP2008309592A (ja) * | 2007-06-13 | 2008-12-25 | Toyota Motor Corp | 軸トルク検出装置および異常検出装置 |
JP2018158389A (ja) * | 2017-03-21 | 2018-10-11 | 学校法人早稲田大学 | 機械装置の動力伝達システム |
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JPWO2022102585A1 (ja) | 2022-05-19 |
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