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Reducer abnormality determination method, abnormality determination device, and robot system

An abnormality determination and reducer technology, applied in general control systems, control/regulation systems, instruments, etc., can solve the problems of time and space limitations, unconsidered influence, and difficult data, etc., and achieve high reliability.

Inactive Publication Date: 2014-11-26
YASKAWA DENKI KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

That is, in order to obtain the desired data, time and space are required to execute a dedicated operation program, and these operations are limited by time and space on the production line of the factory.
[0014] As shown in Patent Document 2 and Patent Document 3, a method of using an actual robot work program instead of a reference motion pattern is also disclosed. There are various motions, and it is difficult to always obtain ideal data in the torque data that is greatly affected by the posture of the robot.
[0015] Especially in Patent Document 3, the influence of the gravity acting on the robot on the torque data is not considered, and the ideal torque data without the influence of gravity is taken into account. Therefore, there are difficulties when it is transferred to an actual industrial robot. Many subjects

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  • Reducer abnormality determination method, abnormality determination device, and robot system
  • Reducer abnormality determination method, abnormality determination device, and robot system
  • Reducer abnormality determination method, abnormality determination device, and robot system

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Embodiment Construction

[0032] Hereinafter, specific embodiments of the present invention will be described with reference to the drawings.

[0033] exist figure 1 Among them, 8 is the robot that this invention relates to, and 9 is the robot controller that controls the robot 8.

[0034] The robot 8 has six joint axes, and a rotary table E2 is rotatably arranged on the upper surface of the fixed table E1. The rotary table E2 is rotatably supported by a rotating shaft (not shown) vertically erected on the fixed table E1. On the top of the turntable E2, one end of the long lower arm E3 is rotatably supported via the shaft E2a.

[0035] On the other end of the lower arm E3, one end of the upper arm base E4 is rotatably supported via a shaft E3a. The shaft E2a and the shaft E3a respectively provided at both ends of the lower arm E3 are parallel to each other, and the two shafts E2a, E3a are at the right position apart from the not-shown rotating shaft that rotatably supports the rotary table E2 on th...

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Abstract

The invention provides a method and a device capable of precisely and simply extracting data used for abnormality determination and life diagnosis of a drive system of an industrial robot while executing a normal action program. Regarding a torque signal Tf outputted from a motor driver 10 for controlling a motor 12 in accordance with a position command Xs generated based on an operation program of a robot 8 to the motor 12, a highpass filter 34 is applied after gravity compensating torque and interference torque due to other shafts of the robot are removed from the torque signal Tf, and an abnormality in a reducer 14 is determined based on an extracted oscillating component of the reducer 14.

Description

technical field [0001] The present invention relates to an abnormality determination method and an abnormality determination device of a reducer installed between a load and a motor and which transmits the torque of the motor to the load, and also relates to a robot and a robot system provided with the abnormality determination device. Background technique [0002] In a multi-joint type industrial robot, etc., it is common to have a configuration in which the power of a motor, which is a drive source of each joint axis, is transmitted to each joint axis through a speed reducer. [0003] It is intended to move various end effectors attached to the distal end of the robot to predetermined positions by driving the joint axes configured in this way. In this industrial robot, it is possible to continuously perform smooth motion by performing periodic maintenance work on the drive system in particular. [0004] However, when unexpected interference occurs between the robot body a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/06B25J9/16
CPCG05B2219/37252G05B2219/39194G05B2219/39261G05B2219/37525G05B2219/41121G05B2219/37434G05B2219/41152B25J9/1674G05B19/4065B25J9/16B25J19/06G05B19/406
Inventor 池田耕一郎中西光章
Owner YASKAWA DENKI KK