Monitoring system

Abstract

The present application realizes a monitoring system that can confirm the state of a movable portion and determine the period of generation of damage or the like even if a user does not move to the site of a motion guide device. One aspect of the present application relates to a monitoring system (1) that monitors the degree of at least one of damage and lubrication of a prescribed movable portion possessed by one or a plurality of motion guide devices (3), and has a storage section (13) that accumulates information corresponding to the sensing result of a sensor (5) provided to the motion guide device (3), and a control section (12) that outputs information indicating the degree corresponding to the sensing result of the motion guide device (3) specified by input from a user.

Description

TECHNICAL FIELD

[0001] The present application relates to a monitoring system that performs monitoring of a motion guide device. BACKGROUND

[0002] In the past, a diagnostic device that senses vibration when a prescribed movable portion of a motion guide device such as a ball screw device moves, thereby diagnosing the degree of damage or the like of the movable portion, is known. In Non-Patent Literature 1, a vibration diagnostic device that can measure and diagnose the state of a rotating machine on site is disclosed.

[0003] PRIOR ART DOCUMENTS

[0004] NON-PATENT LITERATURE

[0005] Non-Patent Literature 1: Introduction of Wireless Vibration Diagnostic Machine Bearing Doctor BD-2 Type, [online], NIKKISO Co., Ltd., [Retrieved on October 13, 2021], Internet <URL: https: / / www.acousnavi.nsk.com / jp / bearing-bd2 / > SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] However, with the above-described prior art, the user needs to move the diagnostic device to the site of the motion guide device each time, so it is time-consuming and laborious, and there is a difficulty in determining the period of generation of damage or the like of the movable portion.

[0008] One aspect of the present application, which was made in view of the above-described problems, aims to realize a monitoring system that can confirm the state of the movable portion and determine the period of generation of damage or the like even if the user does not move to the site of the motion guide device.

[0009] SOLUTION TO THE PROBLEM

[0010] To solve the above-described problems, aspect 1 of the present application relates to a monitoring system that monitors the degree of at least one of damage and lubrication of a prescribed movable portion possessed by one or a plurality of motion guide devices, the monitoring system including: a storage section that accumulates information corresponding to a sensing result of a sensor provided to the motion guide device; and a control section that outputs information indicating the degree corresponding to the sensing result of the motion guide device specified by input from a user.

[0011] According to the above-described structure, for example, the user can confirm the past information related to the damage or the like accumulated in the storage unit via the terminal device. Thus, even if the user does not move to the site of the movement guide device, it is possible to confirm the state of the movable portion and determine the period of generation of the damage or the like.

[0012] For the monitoring system according to the aspect 2 of the present disclosure, on the basis of the aspect 1 described above, the control unit refers to the information corresponding to the sensing result, and predicts the period when the degree of at least one of the damage and the lubrication of the movable portion reaches a prescribed degree.

[0013] According to the above-described structure, it is helpful, for example, to make a plan for replacement or maintenance of the movable portion or the like.

[0014] For the monitoring system according to the aspect 3 of the present disclosure, on the basis of the aspect 2 described above, the monitoring system further includes a learning unit that learns a learning model that inputs the information corresponding to the sensing result and outputs the predicted period when the degree of at least one of the damage and the lubrication of the movable portion reaches a prescribed degree, using a set of the information corresponding to the sensing result and the period when the degree reaches the prescribed degree as teaching data.

[0015] According to the above-described structure, the control unit uses the learning model, and thus it is helpful to improve the accuracy of the prediction of the period when the degree reaches the prescribed degree.

[0016] For the monitoring system according to the aspect 4 of the present disclosure, on the basis of any one of the aspects 1 to 3 described above, a server device on a cloud includes the storage unit, and the control unit acquires the information corresponding to the sensing result corresponding to the designated movement guide device from the server device in response to a case where at least any one of the one or more movement guide devices is designated.

[0017] According to the above-described structure, the information corresponding to the movement guide device is acquired and output in response to a case where the information is designated, and thus, for example, it is possible to reduce the amount of communication from the server to the terminal device for the user to confirm the information.

[0018] For the monitoring system according to the aspect 5 of the present disclosure, on the basis of any one of the aspects 1 to 4 described above, in a case where a value indicating the information corresponding to the sensing result in at least any one of the one or more movement guide devices satisfies a prescribed condition, the control unit notifies information indicating the case where the prescribed condition is satisfied.

[0019] According to the above-described structure, it is helpful for the user to promptly grasp the case where the prescribed condition is satisfied.

[0020] For the monitoring system according to the aspect 6 of the present disclosure, the amplifier with which the sensor is associated supplies, to the storage unit, information representing a characteristic quantity extracted from the sensing result as information corresponding to the sensing result, on the basis of any one of the aspects 1 to 5 described above.

[0021] According to the above-described configuration, it is possible to reduce the data amount of information stored in the storage unit.

[0022] The monitoring system according to each aspect of the present disclosure can also be realized by a computer, in which case a control program of the monitoring system, which causes a computer to function as each unit (software element) possessed by the monitoring system, and a recording medium readable by a computer on which the control program is recorded also belong to the scope of the present disclosure.

[0023] Effects of Invention

[0024] According to the aspect of the present disclosure, it is possible to realize a monitoring system that enables confirmation of the state of a movable portion and determination of the generation timing of damage or the like even when a user does not move to the site of a motion guide device. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is a functional block diagram showing an example of the configuration of the entire system including the monitoring system.

[0026] Figure 2 An example of a linear guide device and a ball screw device is shown.

[0027] Figure 3 A cross-sectional view of a ball screw device and a linear guide device is shown.

[0028] Figure 4 An example of a signal level with respect to damage and lubrication of a linear guide device is shown.

[0029] Figure 5 is an example of a flowchart showing the flow of processing in the monitoring system.

[0030] Figure 6 An example of a display screen generated and displayed by the control unit at a terminal device is shown.

[0031] Figure 7 An example of a display screen generated and displayed by the control unit at a terminal device is shown.

[0032] Figure 8 An example of a display screen generated and displayed by the control unit at a terminal device is shown.

[0033] Figure 9 An example of a display screen generated and displayed by the control unit at a terminal device is shown. DETAILED DESCRIPTION

[0034] Hereinafter, an embodiment of the present application will be described in detail.

[0035] 〔Overall configuration example〕

[0036] Figure 1 is a functional block diagram showing an example of the overall configuration of a system including the monitoring system 1. Hereinafter, each device included in the system of Figure 1 will be described.

[0037] The motion guide device 3 is a device having a prescribed movable portion that moves on a rail or a screw shaft, such as a ball screw device, a linear guide device, or an actuator device. In the motion guide device 3, a sensor 5 that senses vibration when the prescribed movable portion moves is provided.

[0038] Figure 2 An example of a linear guide device and a ball screw device is shown. Figure 2 The linear guide device 3a shows an example in which a clamping-type sensor 5a is attached to a rail 21. In the linear guide device, a guide block 22 corresponds to the prescribed movable portion described above. In addition, the ball screw device 3b shows an example in which a common fastening-type sensor 5b fixed by a screw is attached to a nut 25 that is the prescribed movable portion that moves on a screw shaft 24. The sensor 5 outputs the sensed vibration as a voltage waveform to an amplifier 7 connected respectively by wire. Note that the sensor 5 and the amplifier 7 can also be a structure connected by wireless.

[0039] The manner in which the sensor 5 is attached to the motion guide device 3 can also use, for example, an adhesive type in which the sensor 5 is fixed by being adhered to the rail, in addition to the clamping type in which the rail is clamped, or the common fastening type in which the sensor 5 is fixed by a screw.

[0040] The monitoring system 1 has one or more amplifiers 7 and a server device 10. The amplifier 7 extracts information indicating a characteristic quantity from a voltage waveform indicating the sensing result of the sensor 5, and outputs the extracted information indicating the characteristic quantity as information corresponding to the sensing result to the server device 10. This information output to the server device 10 is supplied to a storage section 13. Note that a structure can be adopted in which the sensing results of a plurality of sensors 5 provided to one or more motion guide devices 3 are input to a single amplifier 7.

[0041] The server device 10 is a device that accumulates the information input from the amplifier 7 and functions as a server with respect to a terminal device 16. The server device 10 has a control section 12, the storage section 13, and a learning section 14.

[0042] The control unit 12 is a device such as a CPU that performs overall control of the server device 10. For example, it outputs information indicating the degree of damage or lubrication of at least one of the movable parts of the motion guide device 3. The degree of damage and lubrication are calculated by the control unit 12 in accordance with the sensing results corresponding to the motion guide device 3 specified by the user. In addition, the control unit 12 performs control and communication processing with the amplifier 7 and the terminal device 16.

[0043] Storage unit 13 is a storage device for storing various types of information, such as information input from amplifier 7 corresponding to the sensing results. Additionally, storage unit 13 stores the parameter set that specifies the learning model used by learning unit 14.

[0044] The learning unit 14 learns a learning model that takes as input the sensing results sensed by the sensor 5 and predicts the period when at least one of the damage to the movable part and the degree of lubrication reaches a predetermined level. Here, the degree of lubrication gradually decreases, and a decrease in the degree of lubrication means an increase in the degree of lubrication depletion.

[0045] In the learning model, the sensing results sensed by sensor 5 and the period when the level reaches a predetermined level are used as teaching data to update the parameter set stored in storage unit 13. It should be noted that control unit 12 may also function as learning unit 14.

[0046] Terminal device 16 is a device that functions as a client to server device 10, such as a personal computer, smartphone, or tablet. Terminal device 16 displays information obtained from the server on display unit 18 based on input from the user.

[0047] It should be noted that, in Figure 1 In the system, the motion guidance device 3 and the terminal device 16 can also be structures included in the monitoring system 1, and the amplifier 7 can also be a structure included in the monitoring system 1. Furthermore, the server device 10 and the terminal device 16 are not limited to a singular number, but can be plural.

[0048] Furthermore, some or all of the components of the server device 10 may be a structure that is installed in the same facility as the motion guide device 3 and the amplifier 7 as a local deployment, or a structure that is installed in a remote data center as a cloud.

[0049] In one embodiment, the structure could be as follows: the server device 10 in the cloud has a storage unit 13, and the control unit 12, in response to the designation of at least one of one or more motion guiding devices 3, retrieves information from the storage unit 13 of the server device 10 that corresponds to the sensing results of the designated motion guiding device 3.

[0050] Alternatively, the following structure can be used: In the case where the server device 10 and the amplifier 7 are located in the same facility, the amplifier 7 sends information to the server device 10 using a dongle or the like.

[0051] [Example of damage to movable parts]

[0052] Next, taking the loss of pre-pressure in motion guide device 3 as an example, we will explain the damage to the specified movable parts in motion guide device 3. Figure 3 A cross-sectional view of the ball screw assembly and the linear guide assembly is shown.

[0053] Figure 3 Figure 31 illustrates the arrangement of the balls of a ball screw between grooves formed at equal intervals on the surface of the screw shaft and grooves inside the nut. As the nut moves on the screw shaft, the balls circulate inside the nut while contacting the surfaces of the grooves.

[0054] Figure 32 illustrates a ball bearing in a pre-compressed state. In this state, pressure from the groove surface is applied to the ball bearing. Figure 33 illustrates a ball bearing with no gap between it and the groove surface. Figure 34 illustrates a ball bearing with a gap between it and the groove surface. In the states shown in Figures 33 and 34, no pressure from the groove surface is applied to the ball bearing.

[0055] Due to prolonged use of the ball screw assembly, wear or peeling gradually occurs on the surface of the balls. As a result, the balls lose preload from the state shown in Figure 32 to the state shown in Figure 33, and then to the state shown in Figure 34.

[0056] In the state illustrated in Figure 34, backlash occurs between the nut and the lead screw shaft, resulting in reduced rigidity, poor machining surface, inaccurate dimensional accuracy, or increased idle speed.

[0057] Furthermore, due to prolonged use of the linear guide device shown in Figure 35, backlash also occurs when the balls within the guide block wear or detach. Additionally, although less common than with the balls, wear or detachment also occurs on the screw shaft and nut sides of the ball screw device, as well as the track side and guide block side of the linear guide device, becoming the main cause of backlash. Because of this backlash, the vibration of the nut, as a movable part, changes as it moves along the screw shaft.

[0058] [Diagnostic examples of damage and lubrication]

[0059] Next, we will use the change in signal level in the linear guide device as an example to illustrate a diagnostic result of damage and lubrication of a specified movable part in the motion guide device 3. The signal level is an index value corresponding to the vibration when the specified movable part of the motion guide device 3 moves, and is a value calculated by the amplifier 7 using a specified algorithm on the input value.

[0060] Figure 4 This illustrates an example of damage and lubrication signal levels in a linear guide device. Here, Figure 4 Figure 41 illustrates an example of a normal linear guide device without damage and an example of a damaged linear guide device, showing the signal level for damage. Figure 43 illustrates an example of a linear guide device with appropriate lubrication and an example of a linear guide device with depleted lubricating oil, showing the signal level for lubrication. Here, the horizontal axis of Figures 41 and 43 represents time. The vertical axis of Figure 41 represents the signal level for damage, and the vertical axis of Figure 43 represents the signal level for lubrication.

[0061] As illustrated in Figures 41 and 43, the signal level is higher when the damage or lubrication is abnormal compared to normal conditions. Furthermore, in Figures 41 and 43, the six mountain-shaped sections of the signal level graph correspond to the case where the guide block reciprocates three times on the track. That is, the mountain-shaped sections correspond to one movement of the guide block in the path or loop on the track.

[0062] Furthermore, if the guide block portion, including the balls, is damaged or poorly lubricated, it will affect the guide block's movement regardless of its position. Therefore, in the aforementioned situation, the signal level during guide block movement will always be a high value, as illustrated in Figures 41 and 43. On the other hand, if a certain part of the track portion is damaged or poorly lubricated, the signal level will increase as the guide block passes through that part.

[0063] Additionally, amplifier 7 can extract information, such as information relating to the height and waveform of the aforementioned signal level, and output this information as information corresponding to the sensing result of sensor 5 to server device 10. This reduces the amount of data transmitted from amplifier 7 to server device 10.

[0064] The control unit 12 of the server device 10 calculates the degree of damage or lubrication of the movable parts of the motion guide device 3 by referring to the information corresponding to the sensing results input from the amplifier 7.

[0065] Furthermore, the control unit 12 can also predict the time when damage to movable parts, etc., and the degree of lubrication, at least one of them will reach a predetermined level by referring to the information input from the amplifier 7. In addition, when predicting the time, the control unit 12 can refer to multiple pieces of information input from the amplifier 7 at different times, or it can use various machine learning methods.

[0066] For example, the control unit 12 may also use a learning model that takes into account information corresponding to the sensing result and outputs a prediction period for the degree of damage to the movable part, lubrication, etc., reaching a predetermined level. The learning model is learned by the learning unit 14 using the set of information corresponding to the sensing result and the period in which the degree reaches the predetermined level as teaching data.

[0067] [Processing flow in monitoring system 1]

[0068] Next, the processing flow in monitoring system 1 will be explained. Figure 5 This is an example of a flowchart illustrating the processing flow in monitoring system 1. Figure 5 The process shown in the flowchart is repeatedly executed after the motion guidance device 3 and the monitoring system 1 are started.

[0069] In S101 (step S101), the amplifier 7 obtains the sensing results of the sensor 5 as voltage waveforms from the sensor 5 when the movable part of the motion guide device 3 moves.

[0070] In S102, amplifier 7 extracts information representing characteristic quantities based on the sensing result of sensor 5. Specifically, amplifier 7 applies a prescribed algorithm to the voltage waveform representing the sensing result of sensor 5 and extracts information representing characteristic quantities based on the voltage waveform. Additionally, amplifier 7 can also calculate based on the voltage waveform... Figure 4 For the illustrated signal level, information representing the height and waveform related to that signal level is extracted. Then, amplifier 7 outputs the information representing the extracted features to server device 10 as information corresponding to the sensing result of sensor 5.

[0071] In S103, the control unit 12 of the server device 10 accumulates the information corresponding to the sensing result input from the amplifier 7 into the storage unit 13.

[0072] In S104, the control unit 12 refers to information corresponding to the sensing result and determines whether the degree of damage to at least one of the movable part of the motion guide device 3 and lubrication meets a predetermined condition. Here, the predetermined condition indicates that the degree of damage or lubrication is abnormal, or indicates that an abnormality is predicted to occur within a certain period; for example, it is the condition that meets the predetermined condition. Figure 4 The illustrated signal level is above the reference value under certain conditions.

[0073] If the control unit 12 determines that the predetermined conditions are met (S104: Yes), it notifies the terminal device 16 in S105 that the predetermined conditions have been met. Furthermore, the determination in S104 is performed separately for each motion guiding device 3, taking the sensing results corresponding to each motion guiding device 3 as the object. That is, if the value of the information corresponding to the sensing result in at least one of the one or more motion guiding devices 3 meets the predetermined conditions, the control unit 12 notifies the terminal device 16 that the predetermined conditions have been met. The notification method for notifying the terminal device 16 is not limited to a specific method; for example, it could be a structure that notifies via email or push notification. On the other hand, if the control unit 12 determines that the predetermined conditions are not met (S104: No), it then executes the processing in S106.

[0074] In S106, the control unit 12 determines whether it requests information from the terminal device 16 indicating the degree of damage or lubrication corresponding to the sensing result of any motion guide device 3. If the control unit 12 determines that it requests information from the terminal device 16 indicating the degree of damage or lubrication (S106: Yes), in S107, it generates a display screen containing this information and sends it to the terminal device 16. Alternatively, the terminal device 16 obtains a display screen corresponding to the specified motion guide device 3 from the server device 10 based on user input and displays it on the display unit 18. Various examples of display screens generated by the control unit 12 will be described later. It should be noted that a structure where the terminal device 16 generates a display screen based on information obtained from the server device 10 is also possible.

[0075] Furthermore, in S106, if the control unit 12 determines that it has not requested the terminal device 16 to send information indicating the degree of damage or lubrication (S106: No), Figure 5 The process shown in the flowchart has ended.

[0076] As mentioned above, Figure 5The process shown in the flowchart is repeatedly executed, but the process of S101 to S105 is not limited to this. For example, the process of S101 to S105 can be executed only a specified number of times at a specified time after the motion guide device 3 and the monitoring system 1 are started.

[0077] [Example of a display screen]

[0078] Next, an example of a display screen generated by the control unit 12 and displayed on the terminal device 16 will be described. Figures 6-9 An example of the displayed screen is shown. Figures 6-9 In the screen, the corresponding item is displayed by selecting an object within the screen.

[0079] For example in Figure 6 In this context, one can select any factory, etc., and confirm information related to the motion guidance device 3 installed in each factory. Additionally, in... Figure 6 The display shows information related to the linear guide device of the "aluminum thick plate production line" at the "Tokyo plant". Here, "no change" in the "control panel" indicates that the damage and lubrication levels of the corresponding motion guide device 3's movable parts are normal. On the other hand, "exceeding" indicates that the damage or lubrication levels are abnormal.

[0080] Additionally, the "Latest Diagnosis" section in the left column contains the most recent assessment results regarding the extent of damage or lubrication. Furthermore, the "All Records" section within the "Maintenance Records" contains information related to the motion guide device 3 requiring maintenance. The "Unresolved Records" section contains information from the "All Records" related to motion guide devices 3 that have not yet been maintained, while the "Resolved Records" section contains information from the "All Records" related to motion guide devices 3 that have been maintained. Alternatively, a structure can be adopted where the user can store and retrieve this maintenance-related information from the server device 10 using the terminal device 16.

[0081] In addition, "confirmation of diagnosis" and "analysis of charts" are items used to display charts or analysis results showing the degree of damage or lubrication of the specified motion guide device 3.

[0082] In addition, Figure 7 In the process, by selecting the various items in "Product Status", information can be displayed for each defective part in the motion guide device 3. Figure 8 An example is shown where the aforementioned "Chart Analysis" is selected and multiple motion guidance devices 3 are specified to comparatively display charts representing the degree of injury. Additionally, in Figure 9 In, it is shown that the setting is in Figure 5An example of the reference value used in the determination of S104.

[0083] [Software-based implementation example]

[0084] The functions of the server device 10 (hereinafter referred to as the "device") can be realized by programs for enabling the computer to function as the device and programs for enabling the computer to function as the various control blocks of the device.

[0085] In this case, the aforementioned device, as hardware for executing the aforementioned program, comprises a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., a memory). The program is executed via this control device and storage device, thereby realizing the functions described in the above embodiments.

[0086] The above-described program can also be recorded on one or more non-transitory, computer-readable recording media. The above-described device may or may not have such a recording medium. In the latter case, the above-described program can also be supplied to the above-described device via any wired or wireless transmission medium.

[0087] Furthermore, some or all of the functions of the aforementioned control blocks can also be implemented using logic circuits. For example, integrated circuits that form logic circuits that function as the aforementioned control blocks are also included within the scope of this invention. In addition, the functions of the aforementioned control blocks can also be implemented using, for example, a quantum computer.

[0088] Furthermore, the processes described in the above embodiments can also be performed by AI (Artificial Intelligence). In this case, the AI ​​can operate either through the aforementioned control device or through other devices (such as edge computers or cloud servers).

[0089] This invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the technical solutions shown. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included within the technical scope of this invention.

[0090] Cross-referencing of related applications

[0091] This application claims priority to Japanese Patent Application No. 2021-185056, filed on November 12, 2021, the entire contents of which are incorporated herein by reference.

[0092] Explanation of reference numerals in the attached figures

[0093] 1. Monitoring system; 3. Motion guidance device; 3a. Linear guidance device; 3b. Ball screw device; 5. Sensors, 5a, and 5b; 7. Amplifier; 10. Server device; 12. Control unit; 13. Storage unit; 14. Learning unit; 16. Terminal device; 18. Display unit.

Claims

1. A monitoring system for monitoring the degree of damage to at least one of the movable parts of a plurality of motion guides and the degree of lubrication of the movable parts reciprocating on tracks of each motion guide, the monitoring system being characterized in that... The monitoring system has the following features: The storage unit accumulates information showing multiple sensing results from sensors installed on the motion guiding device; and The control unit, based on information accumulated in the storage unit showing multiple sensing results, calculates the degree of damage and lubrication of at least one of the movable parts of each of the plurality of motion guiding devices, and generates and outputs a first screen in response to a first input from the user. The first screen includes a graph showing the change over a certain period of time of the degree calculated from the multiple sensing results corresponding to the motion guiding device specified by the input from the user. Each of the aforementioned sensing results represents the sensing results of multiple reciprocating movements of the movable part, and these multiple sensing results are sensing results detected at different discontinuous times. The control unit generates and outputs a second screen in response to a second input from the user. The second screen includes analysis results for each of the plurality of motion guidance devices, the analysis results relating to changes in the degree over a certain period. The control unit performs processing to generate and output the first screen in response to the first input and processing to generate and output the second screen in response to the second input.

2. The monitoring system according to claim 1, characterized in that, The control unit outputs information comparing and representing the degree calculated from the sensing results of two or more motion guiding devices corresponding to the plurality of motion guiding devices specified by the user's input.

3. The monitoring system according to claim 1, characterized in that, The first device, which has established an association with the sensor, supplies information representing feature quantities extracted from the sensing results to the storage unit as information indicating the sensing results. The amount of information representing the feature quantity is less than the amount of information representing the sensing result.

4. The monitoring system according to claim 1, characterized in that, The control unit generates and outputs a third screen in response to a third input from the user. The third screen contains information related to the motion guidance device that needs maintenance, or information related to the motion guidance device that has undergone maintenance. The control unit respectively performs the processing of generating and outputting the first screen in response to the first input, the processing of generating and outputting the second screen in response to the second input, and the processing of generating and outputting the third screen in response to the third input.

5. The monitoring system according to any one of claims 1 to 4, characterized in that, The cloud-based server device includes the aforementioned storage unit. In response to the designation of at least one of the plurality of motion guiding devices, the control unit obtains information from the server device showing the sensing results corresponding to the designated motion guiding device.

6. The monitoring system according to any one of claims 1 to 4, characterized in that, The control unit refers to information displaying the sensing results and predicts the time when the damage to the movable part and the degree of lubrication of at least one of them will reach a predetermined level.

7. The monitoring system according to claim 6, characterized in that, The monitoring system also includes a learning unit that uses a learning model that takes as teaching data a set of information showing the sensing results as input and outputs a prediction period for the degree of damage to the movable part and the degree of lubrication reaching a predetermined level as output.

8. The monitoring system according to any one of claims 1 to 4, characterized in that, If, in at least one of the plurality of motion guiding devices, the value of the information corresponding to the sensing result meets a predetermined condition, the control unit notifies the control unit of information indicating that the predetermined condition has been met. The specified conditions are conditions that are met when at least one of the damage to the movable part and the degree of lubrication is abnormal, or when it is predicted to be abnormal for a certain period of time.

9. The monitoring system according to any one of claims 1 to 4, characterized in that, After the monitoring system is started, the storage unit continuously and automatically accumulates information showing multiple sensing results of the sensor.

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