DEATH AMOUNT MEASURING DEVICE, DEATH AMOUNT MEASURING METHOD AND DEATH AMOUNT MEASURING PROGRAM

Abstract

Deadfall amount measuring device (200), comprising: a rotation control unit (211) to carry out a rotation process of rotating by a certain amount, a servo motor (202) which is connected to a device (201) via a power transmission means (203); a waveform data acquisition unit (212) to perform a waveform data acquisition process of acquiring waveform data obtained when the servo motor (202) is rotated by a certain amount through the rotation process; a determination unit (213) to perform a determination process of determining whether or not rotation was transmitted to the device (201) when the servo motor (202) was rotated by the determined amount through the rotation process, based on the waveform data; a computation unit (214) to initiate a repetition process of a search process to be executed, wherein the search process is formed by the rotation process by the rotation control unit (211) and the waveform data acquisition process by the waveform data acquisition unit (212) and the determination process by the determination unit (213), when the determination unit (213) determines that the rotation of the servo motor (202) was not transmitted to the device (201) in the determination process, to terminate the repetition process when the determination unit (213) determines in the determination process that the rotation of the servo motor (202) was transmitted to the device (201), and to calculate as a dead-run amount of the energy transmission means (203) a sum of a rotation amount in the repetition process, wherein the rotation amount is an amount,around which the rotation control unit (211) rotated the servo motor (202) in the rotation process; and , a duration measuring unit (215) for measuring the duration of a waveform specified in the waveform data when the determination unit (213) determines that the rotation of the servomotor (202) has not been transmitted to the device (201), wherein the computation unit (214) sets the duration as the waiting time after the execution of the search process and until the execution of the next search process in the repetition process.

Description

field of technology

[0001] The present disclosure relates to a dead-run amount measuring device, a post-learning learned model generation device, a learning purpose data generation device, a dead-run amount measuring device, a post-learning learned model generation method, a learning purpose data generation method, a dead-run amount measuring program, a post-learning learned model generation program and a learning purpose data generation program. Background on the state of the art

[0002] When a device is operated using a servo motor, the servo motor's energy is transferred to the device via a power transmission device consisting of a gear, belt, coupling, joint, or similar component. However, there is backlash in the power transmission device, such as a gap between the gears, and the energy equivalent to this backlash is not transferred to the device, even when the servo motor is rotating. This creates a faulty difference, equivalent to the backlash, between the device's position expected by a motion control unit that controls the device and the device's actual position.

[0003] To correct this erroneous difference, the motion control unit has a backlash correction function that does not count a position command equivalent to backlash as a current position if the direction of rotation of the servo motor changes. If backlash correction is implemented, a backlash correction amount must be preset as a parameter of the motion control unit.

[0004] Traditionally, the amount of dead travel was measured by manually rotating the servo motor. However, since this requires an enormous amount of work, a technique for automatically estimating the amount of dead travel was developed. In patent literature 1, for example, the amount of dead travel is estimated using correlation data between the amplitude of a motor torque command and the amplitude of the position feedback. List of oppositions patent literature

[0005] Patent literature 1: WO 2009 / 104 676 A1 Summary of the invention: Technical problem

[0006] However, a conventional technique estimates the amount of backlash as the amplitude of the position feedback obtained when the second derivative of the amplitude from the motor torque command is at its maximum. Therefore, it is necessary to continue rotating the servo motor for a while even after the gears engage and energy is transferred to the device. This presents the problem that measuring the amount of backlash is very time-consuming, as it requires not only the measurement time before energy transfer but also the measurement time after the energy transfer.

[0007] The present disclosure aims to solve the problem described above and implements a dead-run amount measuring device that measures the dead-run amount of an energy transmission means in a shorter time period. Solution to the problem

[0008] The problem is solved by a dead-run measurement device with the features of claim 1, by a dead-run measurement device with the features of claim 2, and by a dead-run measurement device with the features of claim 3. The problem is further solved by a dead-run measurement method with the features of claim 8, by a dead-run measurement method with the features of claim 9, and by a dead-run measurement method with the features of claim 10. The problem is further solved by a dead-run measurement program with the features of claim 11.

[0009] A dead-of-wind measurement device according to the present disclosure comprises: a rotation control unit for performing a rotation process of rotating by a specified amount; a servo motor connected to a device via a power transmission means; a waveform data acquisition unit for performing a waveform data acquisition process of acquiring waveform data obtained when the servo motor is rotated by a specified amount by the rotation process; a determination unit for performing a determination process of determining whether or not rotation has been transmitted to the device when the servo motor has been rotated by the specified amount by the rotation process, based on the waveform data;a computation unit to initiate a repetition process of a search process to be executed, wherein the search process is formed by the rotation process by the rotation control unit, the waveform data acquisition process by the waveform data acquisition unit, and the determination process by the determination unit; to terminate the repetition process when the determination unit determines that the rotation of the servo motor was not transmitted to the device in the determination process; and to calculate as a dead-run amount a sum of a rotation amount in the repetition process, wherein the rotation amount is an amount by which the rotation control unit rotated the servo motor in the rotation process. Advantageous effects of the invention

[0010] A dead-of-wind measurement device according to the present disclosure comprises: a rotation control unit for performing a rotation process of rotating by a specified amount; a servo motor connected to a device via a power transmission means; a waveform acquisition unit for performing a waveform acquisition process of acquiring waveform data obtained when the servo motor is rotated by a specified amount by the rotation process; a determination unit for performing a determination process of determining whether or not rotation was transmitted to the device when the servo motor was rotated by the specified amount by the rotation process, based on the waveform data; and a computation unit for initiating a repetition process of repeating a search process to be executed.The search process is formed by the rotation process by the rotation control unit, the waveform data acquisition process by the waveform data acquisition unit, and the determination process by the determination unit. The repetition process ends when the determination unit determines that the rotation of the servo motor was not transmitted to the device during the determination process. The repetition process is terminated when the determination unit determines that the rotation of the servo motor was transmitted to the device during the determination process. The repetition process is calculated as a total rotation amount, where the rotation amount is the amount by which the rotation control unit rotated the servo motor during the rotation process. Therefore, each time the servo motor is rotated by a certain amount, the repetition measuring device determines whether or not the rotation of the servo motor was transmitted to the device.and calculates the amount of backlash at a point in time when it is determined that the rotation of the servo motor has been transmitted to the device. Therefore, it is not necessary to rotate the servo motor after the energy transmission, and it is possible to calculate the amount of backlash in a shorter time period. Brief description of drawings Fig. Figure 1 is a configuration diagram showing configurations of an FA system 1000 and a dead-run amount measuring device 100 according to a first embodiment. Fig. Figure 2 is a configuration diagram showing an example of a hardware configuration of a computer implementing the dead-run amount measuring device 100 according to the first embodiment. Fig. Figure 3 are flowcharts illustrating the operation of the dead-run amount measuring device 100 according to the first embodiment. Fig. Figure 4 is a conceptual diagram to illustrate a specific example of the operation of the dead-run amount measuring device 100 according to the first embodiment. Fig. Figure 5 is a configuration diagram showing configurations of an FA system 2000 and a dead-run amount measuring device 200 according to a second embodiment. Fig. Figure 6 is a flowchart illustrating an operation of measuring the duration of a waveform by the dead-of-time measurement device 200 according to the second embodiment. Fig. Figure 7 is a configuration diagram showing configurations of an FA system 3000 and a dead-run amount measuring device 300 according to a third embodiment. Fig. Figure 8 is a configuration diagram showing configurations of an FA system 4000 and a dead-run amount measuring device 400 according to a fourth embodiment. Fig. Figure 9 are flowcharts illustrating the operation of the dead-run amount measuring device 400 according to the fourth embodiment. Fig. Figure 10 is a configuration diagram showing configurations of an FA system 5000 and a dead-run amount measuring device 500 according to a fifth embodiment. Fig. Figure 11 is a configuration diagram that shows an example of a hardware configuration of a computer implementing the dead-run amount measuring device 500 according to the fifth embodiment. Fig. Figure 12 are flowcharts illustrating an operation of measuring a dead run amount by a usage unit 510 according to the fifth embodiment. Fig. Figure 13 is a conceptual diagram that represents a concrete example of a learned model according to the fifth embodiment. Fig. Figure 14 is a flowchart illustrating the operation of a learned model generation unit 520 according to the fifth embodiment. Fig. Figure 15 are flowcharts illustrating the operation of a learning purpose data generation unit 530 according to the fifth embodiment. Description of embodiments: First embodiment.

[0011] Fig. Figure 1 is a configuration diagram showing configurations of a factory automation (FA) system 1000 and a dead-run amount measuring device 100 according to a first embodiment.

[0012] The FA system 1000 is a production equipment for products and includes the dead-run amount measuring device 100, a device 1, a servo motor 2, a power transmission means 3, a mode setting means 4 and a vibration sensor 5.

[0013] The device 1 is a machine that actually produces products and operates through the energy transmitted by the servomotor 2 via the energy transmission means 3.

[0014] The servomotor 2 is connected to the device 1 via the energy transmission means, rotates according to the input electrical energy, and transmits the energy to the device 1. The servomotor 2 also rotates according to a control instruction input from the dead-of-travel measuring device 100. The construction of the dead-of-travel measuring device 100 will be described later. Furthermore, the servomotor 2 is connected to a servo amplifier (not shown), which amplifies the electrical energy supplied by a power supply (not shown).

[0015] The energy transmission means 3 transmits the energy of the servomotor 2 to the device 1 and consists of a gear, a ball screw, a belt, and the like. There is a backlash, for example a gap between the gears, in which the energy transmission means 3 operates.

[0016] The mode setting device 4 allows the user to input a mode signal, indicating an operating mode, into the dead-run measurement device 100. A keypad or similar device is used as the mode setting device 4.

[0017] The vibration sensor 5 detects vibration of the device 1 and outputs vibration data indicating the vibration of the device 1 to the dead-of-play measuring device 100. It is also assumed that the vibration sensor 5 is connected to the device 1.

[0018] The dead-fall measuring device 100 measures the dead-fall value of the energy transmission medium 3 and comprises a rotation control unit 11, a waveform data acquisition unit 12, a determination unit 13, and a calculation unit 14. In the first embodiment, the dead-fall measuring device 100 also serves as a programmable logic control unit that controls regular production operation of the device 1.

[0019] The rotation control unit 11 performs rotation control to rotate the servomotor 2; that is, the rotation control unit 11 is a motion control unit for the servomotor 2. In the first embodiment, the rotation control unit 11 performs a rotation process in which the servomotor 2, which is connected to the device 1 via the energy transmission means 3, is rotated by a specific amount. Furthermore, each time the rotation process is performed, the rotation control unit 11 outputs rotation amount information to the processing unit 14, indicating the amount by which the servomotor 2 was rotated.

[0020] The specific amount by which the rotation control unit 11 rotates the servomotor 2 is preferably less than the dead travel of the energy transmission means 3. This specific amount can be determined based on a rule of thumb, or the dead travel can be measured in advance at the time of initial setup of the production equipment, and then a value equal to or less than the dead travel can be assumed.

[0021] The waveform data acquisition unit 12 acquires the waveform data obtained during the rotation of the servomotor 2. In the first embodiment, the waveform data acquisition unit 12 performs a waveform data acquisition process of acquiring the waveform data obtained when the servomotor 2 is rotated by a certain amount during the rotation process. In this case, the waveform data indicates temporal changes in amplitude and is, for example, vibration data or noise data. In the first embodiment, the waveform data acquisition unit 12 acquires the vibration data from the vibration sensor 5 as the waveform data.

[0022] The determination unit 13 uses the waveform data to determine whether or not the rotation of the servomotor 2 has been transmitted to the device 1. In the first embodiment, the determination unit 13 performs a determination process of determining whether or not the rotation has been transmitted to the device 1 when the servomotor 2 is rotated by a certain amount during the rotation process, based on the waveform data.

[0023] In the first embodiment, the determining unit 13 further determines that the rotation of the servomotor 2 has been transmitted to the device 1 if the amplitude of the waveform specified in the waveform data is equal to or greater than a first threshold value and the waveform specified in the waveform data persists for a time period equal to or longer than a second threshold value. Here, the determination of whether or not the waveform persists for a time period equal to or longer than the second threshold value is achieved, for example, by generating an envelope of the waveform and by determining whether or not a time period in which the amplitude of the generated envelope is equal to or greater than a specific threshold value is equal to or longer than the second threshold value.

[0024] Here, each threshold can be set by a designer based on a rule of thumb, or each threshold can be defined during the rotation process and the waveform data acquisition process at an initial point in time when adapting the FA system 1000, using the waveform data obtained at that point. Alternatively, each threshold can be defined based on the amplitude, duration, and envelope amplitude in the waveform data during the first rotation process at a point in time when measuring the deadband magnitude.

[0025] The calculation unit 14 calculates as the dead-of-wind amount of the energy transmission means 3 the rotation amount of the servomotor 2, which is generated from a time at which the rotation control unit 11 starts to rotate the servomotor 2 until a time at which the determination unit 13 determines that the rotation of the servomotor 2 has been transmitted to the device 1.More specifically, in the first embodiment, a computing unit 14 initiates the execution of a repetition process of a search process, wherein the search process is formed from the rotation process by the rotation control unit 11, the waveform data acquisition process by the waveform data acquisition unit 12, and the determination process by the determination unit 13. The determination unit 13 terminates the repetition process when it determines that the rotation of the servo motor 2 was not transmitted to the device 1 during the determination process, and calculates as a dead-run amount of the energy transmission means 3 a sum of a rotation amount in the repetition process, wherein the rotation amount is an amount by which the rotation control unit 11 rotated the servo motor 2 during the rotation process.

[0026] Here, the calculation unit 14 calculates the rotation amount of the servo motor 2 by adding the rotation amount specified in the rotation amount information input by the rotation control unit 11, using a built-in additive mean. Furthermore, the sum of the rotation amounts is a rotation amount after the additive mean has been reset to zero. That is, when referring to the sum of the rotation amounts, the rotation amount before the additive mean was reset to zero is not taken into account.

[0027] Furthermore, the computing unit 14 uses a waiting period between individual search processes. Therefore, when the computing unit 14 executes the repetition process, it ensures that the next search process is executed after a specific time interval, which is predetermined following the previously executed search process. This is because if the next rotation process is performed before the vibration of the device 1 converges, the amplitude of the waveform and its temporal variation will not be accurately measured, and it will not be possible to determine precisely whether or not energy has been transferred to the device 1.

[0028] Furthermore, the calculation unit 14 also serves as a mode setting unit, which determines the operating mode based on the mode signal input by the mode setting device 4. The operating mode can be a production mode for the device 1 to carry out regular production operation or a dead-fall measurement mode to measure the dead-fall of the energy transmission medium 3. A dead-fall auto-adjustment mode is described in detail below.

[0029] Next, a hardware configuration of the dead-fall measurement device 100 according to the first embodiment is described. Each function of the dead-fall measurement device 100 is implemented by a computer. Fig. Figure 2 is a configuration diagram showing an example of a hardware configuration of the computer that implements the dead-run amount measuring device 100 according to the first embodiment.

[0030] The in Fig. 2 Hardware shown includes a processing device 10000, such as a CPU (central processing unit) and a storage device 10001, such as a ROM (read-only memory) or a hard disk.

[0031] The in Fig. The rotation control unit 11, the waveform data acquisition unit 12, the determination unit 13, and the calculation unit 14 shown in Figure 1 are implemented by the processing device 10000, which executes a program stored in the storage device 10001. The configuration described above is not limited to a configuration implemented by a single processing device 10000 and a single storage device 10001, and can be a configuration implemented by a plurality of processing devices 10000 and a plurality of storage devices 10001.

[0032] Furthermore, a method for implementing each function of the dead-fall magnitude measuring device 100 is not limited to the hardware and program combination described above and can also be implemented solely by hardware such as an LSI (Large Scale Integrated Circuit), which is obtained by implementing the program in the processing unit. Alternatively, some functions can be implemented by dedicated hardware and others by a combination of processing unit and program.

[0033] The dead-run amount measuring device 100 according to the first embodiment is constructed as described above.

[0034] Next, the operation of the dead-run amount measuring device 100 according to the first embodiment is described.

[0035] Fig. Figure 3 are flowcharts illustrating the operation of the dead-run amount measuring device 100 according to the first embodiment.

[0036] In the following, the operation of the dead-fall measurement device 100 corresponds to a dead-fall measurement procedure, and the program that causes the computer to execute the operation of the dead-fall measurement device 100 corresponds to a dead-fall measurement program. Furthermore, the operation of the rotation control unit 11 corresponds to a rotation control step, the operation of the waveform data acquisition unit 12 corresponds to a waveform data acquisition step, the operation of the determination unit 13 corresponds to a determination step, and the operation of the calculation unit 14 corresponds to a calculation step.

[0037] First, in step S101, a user sets the dead-fall measurement device 100 to the dead-fall measurement mode using the mode setting device 4. Upon receiving a control signal from the mode setting device 4 indicating that the mode is set to the dead-fall measurement mode, the calculation unit 14 initiates the execution of the initial position setting described below.

[0038] In step S102, the rotation control unit 11 rotates the servo motor 2 by a certain amount in a normal direction.

[0039] In step S103, the waveform data acquisition unit 12 acquires vibration data from the vibration sensor 5. This data is obtained by detecting the vibration of the device 1 when the servo motor 2 is rotated by the specified amount in step S101. The waveform data acquisition unit 12 outputs the acquired vibration data to the destination unit 13.

[0040] In step S104, the determination unit 13 uses the input vibration data to determine whether or not the rotation of servomotor 2 has been transmitted to the device 1. More precisely, the determination unit 13 monitors the input vibration data and determines whether the amplitude is equal to or greater than the first threshold and whether the waveform lasts for a period equal to or longer than the second threshold. If the determination unit 13 determines that the rotation of servomotor 2 has not been transmitted to the device 1, the process returns to step S102 after the specified time period has elapsed, and the rotation control unit 11 rotates servomotor 2 back in the normal direction by the specified amount.When the determining unit 13 determines that the rotation of the servo motor 2 has been transmitted to the device 1, the process proceeds to step S105, and the calculating unit 14 resets the built-in adding mean to zero.

[0041] The processes described above from step S102 to step S105 involve the initial position setting and also processes for setting the adding means to zero in a state where the gears of the energy transfer means 3 are engaged with each other, in preparation for measuring the dead-run amount.

[0042] After the initial position setting is complete and a specified time interval has elapsed, the rotation control unit 11 rotates the servo motor 2 by a specific amount in the opposite direction in step S106. The rotation control unit 11 also outputs the rotation amount information to the calculation unit 14, indicating the amount by which the servo motor 2 was rotated.

[0043] In step S107, the calculation unit 14 adds the rotation amount to the addition mean based on the entered rotation amount information.

[0044] In step S108, the waveform data acquisition unit 12 acquires the vibration data from the vibration sensor 5. This data is obtained by detecting the vibration of the device 1 when the servo motor is rotated by a specific amount in step S106. The waveform data acquisition unit 12 outputs the acquired vibration data to the destination unit 13.

[0045] In step S109, the determining unit 13 uses the input vibration data to determine whether or not the rotation of servomotor 2 has been transmitted to the device 1. More precisely, the determining unit 13 monitors the input vibration data and determines whether the amplitude is equal to or greater than the first threshold and whether the waveform lasts for a period equal to or longer than the second threshold. If the determining unit 13 determines that the rotation of servomotor 2 has not been transmitted to the device 1, the process returns to step S106 after the specified time period has elapsed, and servomotor 2 is rotated again by the specified amount in the opposite direction.When the determination unit 13 determines that the rotation of the servo motor 2 has been transmitted to the device 1, the process proceeds to step S110, and the calculation unit 14 reads the addition mean and calculates the sum of the rotation amount of the servo motor 2 as a dead-run amount A.

[0046] Based on Fig. Section 4 describes specific examples of processes from step S106 to step S110.

[0047] Fig. Figure 4 is a conceptual diagram to illustrate a specific example of the operation of the dead-run amount measuring device 100 according to the first embodiment.

[0048] In Fig. 4. The position of a movable section of the device 1 does not change when the rotation of the servomotor 2 is increased by a fixed amount each time from a standstill, unless the energy of the servomotor 2 is transferred to the device 1. Therefore, the amplitude of the vibration is small, as is the case with the first and second addition of the rotation amount. Fig. 4, and the vibration period is short. On the third addition of the rotation amount, the position of the movable section of the device 1 changes because the energy of the servomotor 2 is transferred to the device 1, and the device 1 itself vibrates. Therefore, the amplitude of the vibration data is larger compared to the first and second times, and the time until the vibration is converted is longer. The determining unit 13 determines whether or not the energy of the servomotor 2 has been transferred to the device 1 via the energy transmission means 3 by detecting such changes in the vibration.

[0049] Returning to Fig. 3. Descriptions of the following business follow.

[0050] Although it is possible to terminate operation after the processes described above, the dead-run measurement device 100, according to the first embodiment, calculates the dead-run values ​​in both the normal and reverse directions and calculates an average of these values ​​as a final dead-run value to reduce measurement errors. The processes described above are the operation of measuring the dead-run value in the reverse direction, and the following descriptions relate to an operation of measuring the dead-run value in the normal direction.

[0051] In step S111, the calculation unit 14 resets the built-in addition means to zero.

[0052] In step S112, the rotation control unit 11 rotates the servo motor 2 by the specified amount in the normal direction. The rotation control unit 11 also outputs the rotation amount information to the calculation unit 14, indicating the amount by which the servo motor 2 was rotated.

[0053] In step S113, the calculation unit 14 adds the rotation amount to the addition mean based on the entered rotation amount information.

[0054] In step S114, the waveform data acquisition unit 12 acquires vibration data from the vibration sensor 5. This data is obtained by detecting the vibration of the device 1 when the servo motor 2 is rotated by the specified amount in step S111. The waveform data acquisition unit 12 outputs the acquired waveform data to the destination unit 13.

[0055] In step S115, the determining unit 13 uses the input vibration data to determine whether or not the rotation of servomotor 2 has been transmitted to the device 1. More precisely, the determining unit 13 monitors the input vibration data and determines whether the amplitude is equal to or greater than the first threshold and whether the waveform lasts for a period equal to or longer than the second threshold. If the determining unit 13 determines that the rotation of servomotor 2 has not been transmitted to the device 1, the process returns to step S112 after the specified time period has elapsed, and servomotor 2 is rotated again by the specified amount in the normal direction.When the determining unit 13 determines that the rotation of the servomotor 2 has been transmitted to the device 1, the process proceeds to step S116, and the computation unit 14 reads the addition mean and records the sum of the rotation amount of the servomotor 2 as a dead-run amount B.

[0056] In step S117, the calculation unit 14 calculates an average value from the dead weight amount A and the dead weight amount B as the final dead weight amount.

[0057] In step S118, the calculation unit 14 sets the calculated dead travel amount as a corrected amount in the rotation control unit 11.

[0058] Through the operation described above, the dead-fall measuring device 100, according to the first embodiment, determines each time the servomotor 2 is rotated by a certain amount whether or not the rotation of the servomotor 2 has been transmitted to the device 1, and the dead-fall measuring device 100 calculates the dead-fall amount at the point in time when it is determined that the rotation of the servomotor 2 has been transmitted to the device 1. Therefore, it is not necessary to rotate the servomotor 2 after the energy transmission, and it is possible to calculate the dead-fall amount in a shorter time interval.

[0059] Furthermore, according to the first embodiment, the dead-fall measurement device 100 determines that the rotation of the servomotor 2 has been transmitted to the device 1 if the amplitude of the waveform displayed in the waveform data is equal to or greater than the first threshold and the waveform displayed in the waveform data persists for a time period equal to or longer than the second threshold. Therefore, it is possible to determine, based on rules, whether or not energy has been transmitted. Thus, a designer and a user can adjust the thresholds as needed, allowing for flexible handling of different situations.

[0060] Furthermore, according to the first embodiment, the dead-run measurement device 100 acquires not only waveform data but also vibration data indicating the vibration of the device 1, which is detected by the vibration sensor 5 connected to the device 1. Therefore, it is possible to acquire waveform data containing less ambient noise and to measure the dead-run with high accuracy.

[0061] Furthermore, as explained above, servomotor 2 is rotated in the normal direction to perform the initial position setting, and then the first search process is performed in the opposite direction. However, servomotor 2 can be rotated in the opposite direction to perform the initial position setting, and then the first search process can be performed in the normal direction. Second embodiment.

[0062] Next, a dead-run amount measuring device 200 according to a second embodiment is described.

[0063] In the first embodiment, the dead-fall measuring device 100 waits for a predetermined time interval after the servomotor 2 has completed a single rotation. Meanwhile, in the second embodiment, the dead-fall measuring device 200 is described, which measures the duration of the waveform specified in the waveform data, sets this duration as the waiting time, and measures the dead-fall value within a shorter time interval. The following section describes the main differences between the two embodiments.

[0064] Fig. Figure 5 is a configuration diagram illustrating configurations of an FA system 2000 and a dead-of-travel measuring device 200 according to the second embodiment. The FA system 2000 is a production equipment for products and comprises the dead-of-travel measuring device 200, a device 201, a servo motor 202, a power transmission means 203, a mode setting means 204, and a vibration sensor 205. Furthermore, the dead-of-travel measuring device 200 comprises a rotation control unit 211, a waveform data acquisition unit 212, a determination unit 213, a calculation unit 214, and a duration measuring unit 215.

[0065] In addition to the production mode and the dead-of-run measurement mode, a waveform duration measurement mode is added as the operating mode of the dead-of-run measurement device 200.

[0066] Furthermore, the duration measuring unit 215 is added as the configuration of the dead-fall measurement device 200. The duration measuring unit 215 measures the duration of the waveform specified in the waveform data when the determination unit 213 determines that the rotation of the servo motor 202 has not been transmitted to the device 201. Here, a process in which the duration measuring unit 215 measures the duration of the waveform is referred to as a duration measurement process.

[0067] Furthermore, according to the second embodiment, the calculation unit 214 defines the duration measured by the duration measuring unit 215 as the waiting time after the execution of the search process and until the execution of the next search process in the repetition process.

[0068] This means that after the servomotor 202 has rotated by the specified amount, the processing unit 214 executes the next search process immediately after the duration of the waveform measured by the duration measuring unit 215 has elapsed. In other words, after the servomotor 202 has rotated by the specified amount, the next search process is only executed after the duration of the waveform measured by the duration measuring unit 215 has elapsed.

[0069] Since the other configurations are identical to those in the first embodiment, detailed descriptions are omitted. The hardware configuration is also identical to that of the first embodiment. Like the other units, the continuous measurement unit 215 is implemented by the processing unit, which executes the program stored in the memory unit.

[0070] Next, using Fig. 6 describes the operation of the dead-pass amount measuring device 200 according to the second embodiment.

[0071] Fig. Figure 6 is a flowchart showing an operation of measuring the duration of the waveform by the dead-of-flow magnitude measuring device 200 according to the second embodiment.

[0072] First, in step S201, the user sets the dead-run measurement device 200 to the waveform duration measurement mode using the mode setting device 204. After the waveform duration measurement mode is set, the calculation unit 214 causes the rotation control unit 211 to execute the rotation process.

[0073] In step S202, the rotation control unit 211 rotates the servo motor 202 by the specified amount in the normal direction.

[0074] In step S203, the waveform data acquisition unit 212 acquires vibration data from the vibration sensor 5. This data is obtained by detecting the vibration of the device 201 when the servo motor 202 is rotated by the specified amount in step S202. The waveform data acquisition unit 212 outputs the acquired vibration data to the determination unit 213 and the continuous measurement unit 215.

[0075] In step S204, the determining unit 213 uses the input vibration data to determine whether or not the rotation of the servo motor 202 has been transmitted to the device 201. More precisely, the determining unit 213 monitors the input vibration data and determines whether the amplitude is equal to or greater than the first threshold and whether the waveform lasts for a period equal to or longer than the second threshold. If the determining unit 213 determines that the rotation of the servo motor 202 has not been transmitted to the device 201, the process continues with step S205. If the determining unit 213 determines that the rotation of the servo motor 202 has been transmitted to the device 201, the process ends.

[0076] If NO is determined in step S204, the duration measuring unit 215 measures the duration of the input waveform data and outputs the duration information, specifying the measured duration, to the calculation unit 214 in step S205. The calculation unit 214 sets the duration specified in the input duration information as the waiting time between the individual search processes. After step S205, an operation of the dead-run magnitude measuring device 200 ends.

[0077] Since the dead-run amount measuring device 200 measures the duration of the waveform and sets the duration as the waiting time between the individual search processes through the operation described above, it is possible to measure the dead-run amount in a shorter time period.

[0078] Next, the effect of the dead-run amount measuring device 200 according to the second embodiment will be described in more detail.

[0079] If the servomotor 202 has completed one rotation and then the next rotation is initiated before the vibration of the device 201 has converged, the next vibration can superimpose on the previous one. In such a situation, it is unlikely that the vibration data can accurately determine whether or not the rotation of the servomotor 202 has been transmitted to the device 201. Therefore, in the first embodiment, a specific time interval is preset, and the next search process, which is the rotation process, is only carried out after this time interval has elapsed. Meanwhile, according to the second embodiment, the backlash measurement device 200 sets the duration of the waveform as the waiting time. Consequently, it is possible to eliminate the need to wait for an additional time interval and to measure the backlash in a shorter time interval.Furthermore, it is possible to avoid a situation where the dead time cannot be accurately measured due to a waiting time that is too short and set by the designer or user.

[0080] Furthermore, since the operation regarding the dead-run amount measurement after setting the waiting time according to the above explanation is the same as in the first embodiment, descriptions are omitted.

[0081] The following is an example of a modification of the dead-run amount measuring device 200 according to the second embodiment.

[0082] In the above explanation, the operation of measuring the waveform duration is performed separately from the operation of measuring the dead-off amount. However, the waveform duration can be measured using the waveform data obtained during the first rotation process when measuring the dead-off amount.

[0083] If the determining unit 213 determines in step S204 described above that the rotation of the servo motor 202 has been transmitted to the device 201, the operation ends. Alternatively, it is also acceptable that the operation does not end and the servo motor 202 is rotated in the opposite direction. Furthermore, it is also acceptable that the duration of the waveform is measured based on the waveform data at that time.

[0084] It is further acceptable that, in the first embodiment, the processes from step S102 to step S105 are performed to establish the initial position of the energy transfer means 203 before the process proceeds to step S202. Performing these processes allows the duration of the waveform to be measured with greater certainty. Furthermore, in the case described above, in step S202 the servomotor 202 is to be rotated in the opposite direction, rather than in the normal direction. Third embodiment.

[0085] Next, a dead-run amount measuring device 300 according to a third embodiment is described.

[0086] The dead-fall measurement devices according to the first and second embodiments use vibration data, indicating the vibration of a position within the device, as waveform data. Meanwhile, the dead-fall measurement device 300 according to the third embodiment uses noise data, obtained by recording the operating noise of the device, as waveform data. The following section describes the main differences between the first and second embodiments.

[0087] Fig. Figure 7 is a configuration diagram showing configurations of an FA system 3000 and a dead-run amount measuring device 300 according to the third embodiment.

[0088] The FA system 3000 is production equipment for products and comprises the dead-of-travel measuring device 300, a device 301, a servo motor 302, a power transmission device 303, a mode setting device 304, and a noise sensor 305. Furthermore, the dead-of-travel measuring device 300 includes a rotation control unit 311, a waveform data acquisition unit 312, a determination unit 313, and a calculation unit 314.

[0089] The noise sensor 305 is placed near the device 301, detects the operating noise of the device 301 and outputs the noise data indicating the operating noise of the device 301 to the dead travel amount measuring device 300.

[0090] In the third embodiment, the waveform data acquisition unit 312 acquires the noise data from the noise sensor 305 as the waveform data.

[0091] Since the other configurations and operations are the same as in the first embodiment, descriptions are omitted.

[0092] It is possible to measure the dead travel amount at a lower cost by using the noise sensor 305 instead of the vibration sensor 5 as described above.

[0093] The technology in the second embodiment can be applied to the third embodiment. That is, in the third embodiment as well, the dead-run measurement device 300 can measure the duration of the noise specified in the noise data and set the measured duration as the waiting time between the individual search processes. Fourth embodiment.

[0094] A fourth embodiment is described below.

[0095] The dead-run measuring devices described above, according to the first to third embodiments, automatically measure the dead-run based on vibration or noise. Meanwhile, a dead-run measuring device 400 is described which causes a display device to warn the user of the device when the dead-run is too large to be corrected.

[0096] If a component, such as a gear, contained in the energy transmission means exhibits low wear and a small amount of backlash, the device can be controlled by performing a correction. However, if the wear becomes high and the backlash increases, continuing the operation may lead to the energy transmission means breaking. For this reason, the backlash measuring device 400, according to the fourth embodiment, pre-sets an upper limit for the amount of backlash to be measured, which is the rotational amount of the servo motor. If the backlash exceeds this upper limit, the backlash measuring device 400 stops measuring the backlash and displays a message to the user indicating that the backlash has exceeded the upper limit.

[0097] The following describes mainly the aspects that differ from the first to third embodiments.

[0098] Fig. Figure 8 is a configuration diagram showing configurations of an FA system 4000 and a dead-run amount measuring device 400 according to the fourth embodiment.

[0099] The FA system 4000 is production equipment for products and comprises the dead-of-travel measuring device 400, a device 401, a servo motor 402, a power transmission device 403, a mode setting device 404, a vibration sensor 405, and a display device 406. Furthermore, the dead-of-travel measuring device 400 includes a rotation control unit 411, a waveform data acquisition unit 412, a determination unit 413, and a calculation unit 414.

[0100] The display unit 406 performs displays for the user based on a control signal received from the computing unit 414. A display or the like is referred to as the display unit 406.

[0101] In the fourth embodiment, the calculation unit 414 determines in each search process whether or not the sum of the rotation amounts of the servomotor 402 in the repetition process is equal to or greater than a third threshold value, and, if it is determined that the sum of the rotation amounts of the servomotor 402 is equal to or greater than the third threshold value, terminates the repetition process regardless of whether or not the determination unit 413 determines that the rotation of the servomotor 402 has been transmitted to the device 401.

[0102] Furthermore, if it is determined that the sum of the rotation amounts of the servomotor 402 is equal to or greater than the third threshold value, the calculation unit 414 transmits the control signal that causes the display device 406 to display the warning. Displaying the warning here could be, for example, a warning indicating that the backlash cannot be measured, a warning requesting an overhaul of the production equipment, or the like.

[0103] Next, using Fig. 9 describes the functioning of the dead-pass amount measuring device 400 according to the fourth embodiment.

[0104] Fig. Figure 9 are flowcharts illustrating the operation of the dead-run amount measuring device 400 according to the fourth embodiment.

[0105] One aspect that differs from the operation of the dead-run measurement device 100 according to the first embodiment is mainly that the process does not return directly to step S406 if step S409 is determined as NO, and step S410 is performed in between. Similarly, an operation of step S417 is performed between steps S416 and S413.

[0106] If NO is determined in step S409, the computation unit 414 determines in step S410 whether the sum of the rotation amounts of the servo motor 402 in the iteration process is equal to or greater than the third threshold. If the computation unit 414 determines that the sum of the rotation amounts is equal to or greater than the third threshold, the process proceeds to step S418. If the computation unit 414 determines that the sum of the rotation amounts is less than the third threshold, the process returns to step S406. The operations in steps S416 and S417 are the same as in steps S409 and S410, respectively.

[0107] If the process transitions to YES after step S410 or step S417, the computing unit 414 transmits the control signal to the display unit 406 in step S418. Upon receiving the control signal from the computing unit 414, the display unit 406 shows the warning to the user.

[0108] Through the above operation, the dead-run measuring device 400, according to the fourth embodiment, causes the display device 406 to display a warning when the dead-run exceeds the threshold for dead-run correction. This allows the user to recognize that the wear of the energy transmission means 403 has become excessive and to consider overhauling the production equipment at an early stage.

[0109] Furthermore, the technology in the second embodiment can be applied to the fourth embodiment. That is, in the fourth embodiment as well, the dead-run measurement device 400 can measure the duration of the waveform specified in the waveform data and set the measured duration as the waiting time between the individual search processes.

[0110] Furthermore, the technology in the third embodiment can be applied to the fourth embodiment. That is, the FA system 4000 can include the noise sensor instead of the vibration sensor 405, and the deadband measurement device 400 can use the noise data as the waveform data. Fifth embodiment.

[0111] Next, a dead-run amount measuring device 500 according to a fifth embodiment is described.

[0112] The dead-of-load measurement devices according to the first to fourth embodiments determine, based on rules in the amplitude and duration of the waveform data, whether or not the rotation of the servo motor has been transmitted to the device. Meanwhile, the fifth embodiment describes the dead-of-load measurement device 500, which uses a learned model to determine whether or not the rotation of the servo motor has been transmitted to the device. This arises from considerations regarding a situation in which the energy transmission means is so complex that automatically setting the dead-of-load value based on the amplitude of the vibration or noise waveform, or on the time interval until the vibration converges, does not determine whether or not the energy of the device has been transmitted from the servo motor.

[0113] Fig. Figure 10 is a configuration diagram showing configurations of an FA system 5000 and the dead-run amount measuring device 500 according to the fifth embodiment.

[0114] The FA system 5000 is production equipment for products and includes the dead travel amount measuring device 500, a device 501, a servo motor 502, a power transmission means 503, a mode setting means 504, a vibration sensor 505 and a display device.

[0115] In the fifth embodiment, the dead-run measurement device 500 comprises a rotation control unit 511, a waveform data acquisition unit 512, a determination unit 513, a calculation unit 514, a learning purpose data acquisition unit 521, a learning unit 522, a label attachment unit 531, and a data quantity determination unit 532. The rotation control unit 511, the waveform data acquisition unit 512, the determination unit 513, and the calculation unit 514 form a usage unit 510. Furthermore, the learning purpose data acquisition unit 521 and the learning unit 522 form a learned model generation unit 520. In addition, the rotation control unit 511, the waveform data acquisition unit 512, the calculation unit 514, the Label attachment unit 531 and data set determination unit 532 a learning purpose data generation unit 530.

[0116] Next, a hardware configuration of the dead-fall measurement device 500 according to the fifth embodiment is described. Each function of the dead-fall measurement device 500 is implemented by a computer. Fig. Figure 11 is a configuration diagram showing an example of a hardware configuration of the computer that implements the dead-run amount measuring device 500 according to the fifth embodiment.

[0117] The in Fig. 11 Hardware shown includes a processing unit 50000, such as a CPU (central processing unit), and a storage unit 50001, such as a ROM (read-only memory) and a hard disk.

[0118] The in Fig. The rotation control unit 511, waveform data acquisition unit 512, determination unit 513, calculation unit 514, learning purpose data acquisition unit 521, learning unit 522, label attachment unit 531, and data quantity determination unit 532, as depicted in Figure 10, are implemented by the processing unit 50000, which executes a program stored in the storage unit 50001. Furthermore, the storage unit 50001 implements a function for the learning unit 522 to store a learned model and a function for the data quantity determination unit 532 to store learning purpose data.Here, the configuration described above is not limited to a configuration implemented by a single processing unit 50000 and a single storage unit 50001, and can be a configuration implemented by a multitude of processing units 50000 and a multitude of storage units 50001.

[0119] Furthermore, a method for implementing each function of the dead-fall magnitude measuring device 500 is not limited to the hardware and program combination described above and can also be implemented solely by hardware such as an LSI (large-scale integration circuit), which is obtained by implementing the program in the processing unit. Alternatively, some functions can be implemented by dedicated hardware and others by a combination of processing unit and program.

[0120] The dead-run amount measuring device 500 according to the fifth embodiment is constructed as described above.

[0121] The following describes the usage unit 510, the learned model generation unit 520 and the learning purpose data generation unit 530 in a usage phase, a learning phase and a learning data generation phase respectively. <Usage phase>

[0122] First, the usage unit 510 is described, which measures the dead weight amount using a post-learning learned model.

[0123] In the fifth embodiment, the determining unit 513 uses the waveform data and the learned model to determine whether or not the rotation of the servomotor 502 has been transmitted to the device 501. That is, the determining unit 513 acquires the post-learning learned model from the learning unit 522, which is described later, and determines whether or not the energy of the servomotor 502 has been transmitted to the device 501 by inputting the waveform data into this learned model.

[0124] Here, it is assumed that the learned model used by the determining unit 513 is obtained through supervised learning. More specifically, the learned model outputs consistency information indicating whether or not the input waveform data is consistent with the waveform data obtained through prior learning, which was performed when energy was transferred from servomotor 502 to device 501. If the waveform data segments are consistent, the learned model outputs consistency information indicating "consistent." If the waveform data segments are inconsistent, the learned model outputs consistency information indicating "inconsistent." In this case, "consistent" is synonymous with "transfer," and "inconsistent" is synonymous with "non-transfer."In this case, the process of determining whether or not the waveform data are consistent with the waveform data obtained in advance through learning is called waveform determination.

[0125] Furthermore, for the consistency of the waveform determination, the pieces of waveform data do not need to be exactly identical. If the types of waveforms specified in the waveform data are the same, one can speak of "consistent." However, if the types of waveforms differ, it is possible to conclude that they are "inconsistent." Here, there are two types of waveforms: the waveform obtained when energy from servomotor 502 is transferred to device 501, and the waveform obtained when energy from servomotor 502 is not transferred to device 501.

[0126] This means that if the input waveform data is consistent with the waveform data obtained from the pre-learning process performed when energy from servomotor 502 was transferred to device 501, the determination unit 513 outputs a determination result indicating "Transmission," meaning that energy was transferred. If the input waveform data is not consistent with the waveform data obtained from the pre-learning process performed when energy from servomotor 502 was transferred to device 501, or if the input waveform data is consistent with the waveform data obtained from the pre-learning process performed when energy from servomotor 502 was not transferred to device 501, the determination unit 513 outputs a determination result indicating "Non-Transmission," meaning that energy was not transferred.

[0127] The above explanation describes how the determination unit 513 determines the waveform using the learned model obtained from learning by the learning unit 522 of the dead-fall magnitude measuring device 500. However, the learned model can also be acquired externally, such as from another learning device, and the determination unit 513 can determine the waveform based on this learned model.

[0128] Usage unit 510 is structured as described above.

[0129] Next, we will use the following as an example: Fig. 12 describes an operation of measuring the dead volume by the usage unit 510.

[0130] Fig. Figure 12 are flowcharts illustrating the operation of measuring the dead run amount by the usage unit 510 according to the fifth embodiment.

[0131] In steps S504, S509 and S515, the usage unit 510 determines whether or not the rotation of the servo motor 502 has been transmitted to the device 501 by entering the waveform data into the learned model.

[0132] Since the other operations are the same as in the first embodiment, descriptions are omitted.

[0133] Through the operation described above, the dead-of-load measuring device 500, according to the fifth embodiment, determines, using the learned model, whether or not the rotation of the servomotor 502 has been transmitted to the device 501. Therefore, it is possible to measure the dead-of-load with high accuracy even in a case where the energy transmission means 503 is so complex that the transmission of energy from the servomotor 502 to the device 501 cannot be determined based on the amplitude of the vibration or noise waveform or the time it takes for the vibration to converge. < Learning phase >

[0134] Next, the learned model generation unit 520, which generates the post-learning learned model, is described.

[0135] The learning-purpose data acquisition unit 521 acquires as learning-purpose data the waveform data obtained when the servomotor 502, connected to the device 501 via the energy transmission means 503, is rotated, as well as the consistency information indicating whether or not the rotation of the servomotor 502 was transmitted to the device 501. That is, the learning-purpose data acquisition unit 521 acquires as learning-purpose data the waveform data to which the consistency information is attached.

[0136] The learning unit 522 uses the learning purpose data to generate the learned model to determine whether or not the rotation of the servo motor 502 was transmitted to the device 501, based on the waveform data obtained when the servo motor 502 is rotated.

[0137] This means that learning unit 522 performs learning for the learned model based on the learning purpose data entered by learning purpose acquisition unit 521. Furthermore, before learning, learning unit 522 stores a pre-learning learned model in advance. After learning, learning unit 522 stores the post-learning learned model.

[0138] The learning algorithm used by learning unit 522 can be well-known algorithms such as supervised learning, unsupervised learning, or reinforcement learning. An example using a neural network is described.

[0139] Learning unit 522 learns to determine the waveform data, for example through so-called supervised learning, according to a neural network model. Here, supervised learning is a method in which a learning device is provided with a pair of input data and output (label) data, and the learning device is instructed to learn features in the training data and derive the result from the input.

[0140] The neural network consists of an input layer with a large number of neurons, an intermediate layer (hidden layer) with a large number of neurons, and an output layer with a large number of neurons. The intermediate layer can consist of one, two, or more layers.

[0141] For example, in the neural network with three layers, as in Fig. As shown in Figure 13, when multiple inputs are entered into the input layers (X1 to X3), the values ​​are multiplied by weight W1 (w11 to w16), and the results are then entered into the intermediate layers (Y1 to Y2). Subsequently, the results are multiplied by weight W2 (w21 to w26) and then output by the output layers (Z1 to Z3). These output results vary depending on the values ​​of weight W1 and weight W2.

[0142] In the present embodiment, the neural network learns waveform determination by so-called supervised learning according to the combination of vibration data and consistency information, which are the learning purpose data acquired by the learning purpose data acquisition unit 521.

[0143] This means that the neural network learns by adjusting the weights W1 and W2 so that the results output by the output layers after input into the input layers, the vibration data that is the training data, come close to the consistency information corresponding to the input waveform data.

[0144] Learning unit 522 generates the post-learning learned model through the operation described above and outputs the post-learning learned model.

[0145] Next, we will use the following as an example: Fig. 14 describes a process by which the learned model generation unit 520 generates the post-learning learned model.

[0146] Fig. Figure 14 is a flowchart that represents an operation of the Learned Model Generation Unit 520 according to the fifth embodiment.

[0147] Further below, the learned model generation unit 520 operation corresponds to a post-learning learned model generation procedure, and a program that causes the computer to execute the learned model generation unit 520 operation corresponds to a post-learning learned model generation program. Furthermore, an operation of the learning purpose data acquisition unit 521 corresponds to a learning purpose data acquisition step, and an operation of the learning unit 522 corresponds to a learning step.

[0148] In step S521, the learning purpose data acquisition unit 521 acquires the learning purpose data in which the vibration data and consistency information are mapped to each other. It should be noted that this assumes the vibration data and consistency information are acquired simultaneously. However, it is sufficient if the vibration data and consistency information are entered in relation to each other. Therefore, the vibration data and consistency information can each be acquired at different times.

[0149] In step S522, the learning unit 522 learns waveform determination through so-called supervised learning according to the learning purpose data acquired in step S521 and generates the post-learning learned model.

[0150] In step S523, learning unit 522 stores the post-learning learned model generated by learning unit 522. <Learning Purpose Data Generation Phase>

[0151] Next, the learning purpose data generation unit 530 is described, which generates the learning purpose data to be used for learning.

[0152] The above explanation describes the usage unit 510 and the learned model generation unit 520. Here, the learning purpose data generation unit 530 is described for generating the learning purpose data to be entered into the learned model generation unit 520.

[0153] The learning purpose data generation unit 530 shares the rotation control unit 511, the waveform data acquisition unit 512 and the computation unit 514 with the utilization unit 510.

[0154] The label appending unit 531 attaches a label to the waveform data and generates the training data. More precisely, the label appending unit 531 generates the training data by appending a non-transmission label to the waveform data. This label indicates that the waveform data is retained when the rotation of the servo motor 502 is not transmitted to the device 501, provided the rotation amount of the servo motor 502 does not exceed a preset backlash value. It also generates a transmission label to the waveform data. This label indicates that the waveform data is retained when the rotation of the servo motor 502 is transmitted to the device 501, provided the rotation amount of the servo motor 502 exceeds the backlash value. In this case, the transmission and non-transmission labels are equivalent to consistency information. The transfer label is equivalent to the "consistent" label described in the usage phase.The non-transfer label is equivalent to the “inconsistent” label described in the usage phase.

[0155] Furthermore, the label attachment unit 531 outputs the generated learning purpose data to the data set determination unit 532.

[0156] The data set determination unit 532 determines whether or not a sufficient amount of learning purpose data generated by the label attachment unit 531 has been collected. For example, the data set determination unit 532 determines whether or not the sufficient amount of learning purpose data has been collected by determining whether or not the number of bytes of learning purpose data input reaches the specified number of bytes. Furthermore, the data set determination unit 532 stores the input learning purpose data and outputs the learning purpose data to the learning purpose data acquisition unit 521 upon a request from the learning purpose data acquisition unit 521.

[0157] During the initial setup of the FA system 5000, the user measures the dead travel of the production equipment using a dial gauge or similar device and stores the measured dead travel amount in advance in the label attachment unit 531.

[0158] Next, using Fig. 15 describes an operation of generating the learning purpose data by the learning purpose data generation unit 530. Fig. Figure 15 are flowcharts illustrating the operation of the learning purpose data generation unit 530 according to the fifth embodiment.

[0159] Furthermore, the operation of the learning-purpose data generation unit 530 corresponds to a learning-purpose data generation procedure, and a program that causes the computer to execute the operation of the learning-purpose data generation unit 530 corresponds to a learning-purpose data generation program. Furthermore, an operation of the label-attachment unit 531 corresponds to a label-attachment step, and an operation of the data set determination unit 532 corresponds to a data set determination step.

[0160] In step S531, the calculation unit 514 resets the built-in addition mean to zero.

[0161] In step S532, the calculation unit 514 adds a rotation amount to be specified in step S533 to the average. Furthermore, the calculation unit 514 reads a value of the average and outputs information to the label attachment unit 531 indicating the sum of the rotation amounts of the servo motor 502.

[0162] In step S533, the rotation control unit 511 rotates the servo motor 502 by a certain amount in the normal direction.

[0163] In step S534, the waveform data acquisition unit 512 acquires waveform data obtained when the servo motor 502 is rotated by the specified amount in step S533. The waveform data acquisition unit 512 outputs the acquired waveform data to the label attachment unit 531.

[0164] In step S535, the label appending unit 531 compares the sum of the rotation amounts specified in the information input by the computation unit 514 with the pre-recorded deadband amount. If the sum of the rotation amounts is less than the deadband amount, the process continues to step S536. Then, the label appending unit 531 generates the training data by appending consistency information indicating "inconsistent" to the waveform data. Afterward, the process returns to step S532.

[0165] If the sum of the rotation amounts is equal to or greater than the dead-off amount in step S535, the process proceeds to step S537. Then, the label appendage unit 531 generates the training data by appending the consistency information, which indicates "inconsistent", to the waveform data.

[0166] In step S538, the calculation unit 514 resets the built-in addition mean to zero.

[0167] In step S539, the calculation unit 514 adds the rotation amount to be specified in step S540 to the average of the totals. Furthermore, the calculation unit 514 reads a value of the average of the totals and outputs information to the label attachment unit 531 indicating the sum of the rotation amounts of the servo motor 502.

[0168] In step S540, the rotation control unit 511 rotates the servo motor 502 by the specified amount in the opposite direction.

[0169] In step S541, the waveform data acquisition unit 512 acquires the waveform data obtained when the servo motor 502 is rotated by the specified amount in step S540. The waveform data acquisition unit 512 outputs the acquired waveform data to the label attachment unit 531.

[0170] In step S542, the label append unit 531 compares the sum of the rotation amounts specified in the information input by the computation unit 514 with the pre-recorded deadband amount. If the sum of the rotation amounts is less than the deadband amount, the label append unit 531 generates the training data by appending the consistency information indicating "inconsistent" to the waveform data in step S543. The process then returns to step S539.

[0171] If the sum of the rotation amounts is not less than the dead-off amount in step S542, the process proceeds to step S544. Then, the label appendage unit 531 generates the training data by appending the consistency information, which indicates "inconsistent", to the waveform data.

[0172] In step S545, the data set determination unit 532 determines whether or not a specific amount of accumulated training data has been collected. If the data set determination unit 532 determines that the specified amount has been collected, the training data generation unit 530 terminates the operation. If the data set determination unit 532 determines that the specified amount has not been collected, the process returns to step S531.

[0173] The operation described above allows the 530 learning purpose data generation unit to reduce the workload for generating learning purpose data by automatically generating it. Furthermore, it is possible to efficiently generate learning purpose data segments by alternating rotation in the normal direction and rotation in the opposite direction, generating the learning purpose data at times of both normal and opposite rotation.

[0174] The following is an example of a modification of the dead-run amount measuring device 500 according to the fifth embodiment.

[0175] The above explanation describes a case in which supervised learning is used as the learning algorithm. However, the learning algorithm is not limited to this. Reinforcement learning, unsupervised learning, semi-supervised learning, or similar methods can also be used as the learning algorithm instead of supervised learning.

[0176] Furthermore, the Learning Model Generation Unit 520 can learn waveform determination from pieces of learning purpose data generated by a variety of dead-fall magnitude measuring devices 500. It should be noted that the Learning Model Generation Unit 520 can acquire pieces of learning purpose data from the variety of dead-fall magnitude measuring devices 500 used in the same area, or it can use pieces of learning purpose data collected from the variety of dead-fall magnitude measuring devices 500, each operating independently in a different area, to learn waveform determination. Additionally, it is possible to add or remove the dead-fall magnitude measuring device 500 that collects learning purpose data to / from a subject during the process.Furthermore, a learned model used to learn waveform determination in one dead-of-load magnitude measuring device 500 can be applied to another dead-of-load magnitude measuring device 500, and waveform determination can be relearned to update the learned model in the other dead-of-load magnitude measuring device.

[0177] Furthermore, the learning algorithm used by learning unit 522 can be deep learning, which learns to extract a feature itself, and machine learning can be performed according to another well-known method, such as genetic programming, inductive programming, or a support vector machine.

[0178] Furthermore, the foregoing describes a configuration comprising a single dead-run measurement device 500, which includes the usage unit 510, the learned model generation unit 520, and the learning purpose data generation unit 530. However, other configurations are also acceptable, for example, a configuration in which each unit is housed in a separate device, such as a configuration with a usage device, a post-learning learned model generation device, and a learning purpose data generation device. Another configuration in which each unit resides on a cloud server is also acceptable.

[0179] Furthermore, the technology in the second embodiment can be applied to the fifth embodiment. That is, in the fifth embodiment as well, the dead-run measurement device 500 can measure the duration of the waveform specified in the waveform data and set the measured duration as the waiting time between the individual search processes.

[0180] Furthermore, the technology in the third embodiment can be applied to the fifth embodiment. That is, the FA system 5000 can include the noise sensor instead of the vibration sensor 505, and the dead-fall measurement device 500 can use the noise data as the waveform data. Commercial applicability

[0181] A dead-run amount measuring device according to the present disclosure is suitable for use in an FA system. Reference symbol list

[0182] 100, 200, 300, 400, 500: Backlash measuring device, 1000, 2000, 3000, 4000, 5000: FA system, 11, 211, 311, 411, 511: Rotation control unit, 12, 212, 312, 412, 512: Waveform data acquisition unit, 13, 213, 313, 413, 513: Determination unit, 14, 214, 314, 414, 514: Calculation unit, 215: Duration measurement unit, 510: Utilization unit, 520: Learned model generation unit, 521: Learning purpose data acquisition unit, 522: Learning unit 530: Learning purpose data generation unit, 531: Label attachment unit, 532: Data quantity determination unit, 1, 201, 301, 401, 501: Device, 2, 202, 302, 402, 502: Servo motor, 3, 203, 303, 403, 503: Power transmission means, 4, 204, 304, 404, 504: Mode setting means, 5, 205, 405, 505: Vibration sensor, 305: Noise sensor, 406: Display device, 10000, 50000: Processing device, 10001, 50001: Storage device.

Claims

[1] Deadfall amount measuring device (200), comprising: a rotation control unit (211) to carry out a rotation process of rotating by a certain amount, a servo motor (202) which is connected to a device (201) via a power transmission means (203); a waveform data acquisition unit (212) to perform a waveform data acquisition process of acquiring waveform data obtained when the servo motor (202) is rotated by a certain amount through the rotation process; a determination unit (213) to perform a determination process of determining whether or not rotation was transmitted to the device (201) when the servo motor (202) was rotated by the determined amount through the rotation process, based on the waveform data; a computation unit (214) to initiate a repetition process of a search process to be executed, wherein the search process is formed by the rotation process by the rotation control unit (211) and the waveform data acquisition process by the waveform data acquisition unit (212) and the determination process by the determination unit (213), when the determination unit (213) determines that the rotation of the servo motor (202) was not transmitted to the device (201) in the determination process, to terminate the repetition process when the determination unit (213) determines in the determination process that the rotation of the servo motor (202) was transmitted to the device (201), and to calculate as a dead-run amount of the energy transmission means (203) a sum of a rotation amount in the repetition process, wherein the rotation amount is an amount,around which the rotation control unit (211) rotated the servo motor (202) in the rotation process; and , a duration measuring unit (215) for measuring the duration of a waveform specified in the waveform data when the determination unit (213) determines that the rotation of the servomotor (202) has not been transmitted to the device (201), wherein the computation unit (214) sets the duration as the waiting time after the execution of the search process and until the execution of the next search process in the repetition process. [2] Dead travel amount measuring device (100), comprising: a rotation control unit (11) to carry out a rotation process of rotating by a certain amount, a servo motor (2) which is connected to a device (1) via a power transmission means (3); a waveform data acquisition unit (12) to perform a waveform data acquisition process of acquiring waveform data obtained when the servo motor (2) is rotated by a certain amount through the rotation process; a determination unit (13) to perform a determination process of determining whether or not rotation was transmitted to the device (1) when the servo motor (2) was rotated by the determined amount through the rotation process, based on the waveform data; and a calculation unit (14) to initiate a repetition process of a search process to be executed, wherein the search process is formed by the rotation process by the rotation control unit (11) and the waveform data acquisition process by the waveform data acquisition unit (12) and the determination process by the determination unit (13), to terminate the repetition process when the determination unit (13) determines that the rotation of the servo motor (2) was not transmitted to the device (1) in the determination process, and to calculate as a dead-run amount of the energy transmission means (3) a sum of a rotation amount in the repetition process, wherein the rotation amount is an amount by which the rotation control unit (11) rotated the servo motor (2) in the rotation process.where, the waveform data acquisition unit (12) acquires the waveform vibration data indicating vibration of the device (1) detected by a vibration sensor (5) connected to the device (1). [3] Dead travel amount measuring device (300), comprising: a rotation control unit (311) to perform a rotation process of rotating by a certain amount, a servo motor (302) which is connected to a device (301) via a power transmission means (303); a waveform data acquisition unit (312) to perform a waveform data acquisition process of acquiring waveform data obtained when the servo motor (302) is rotated by a certain amount through the rotation process; a determination unit (313) to perform a determination process of determining whether or not rotation was transmitted to the device (301) when the servo motor (302) was rotated by the determined amount through the rotation process, based on the waveform data; and a computation unit (314) to initiate a repetition process of a search process to be executed, wherein the search process is formed by the rotation process by the rotation control unit (311) and the waveform data acquisition process by the waveform data acquisition unit (312) and the determination process by the determination unit (313), to terminate the repetition process when the determination unit (313) determines in the determination process that the rotation of the servo motor (302) was not transmitted to the device (301), and to calculate as a dead-run amount of the energy transmission means (303) a sum of a rotation amount in the repetition process, wherein the rotation amount is an amount,around which the rotation control unit (311) has rotated the servo motor (302) in the rotation process, wherein, the waveform data acquisition unit (312) acquires the waveform data noise data, indicating the operating noise of the device (301), which is detected by a noise sensor (305) installed near the device (301). [4] Dead-of-run measurement device (100) according to one of claims 1 to 3, wherein the determining unit (13) determines that the rotation of the servo motor (2) has been transmitted to the device (1) when an amplitude of a waveform displayed in the waveform data is equal to or greater than a first threshold value, and the waveform displayed in the waveform data lasts for a period of time equal to or longer than a second threshold value. [5] Dead travel measurement device (500) according to any one of claims 1 to 3, wherein the determining unit (513) determines whether or not the rotation of the servo motor (502) has been transmitted to the device (501) based on the waveform data, using a learned model. [6] Dead travel amount measuring device (400) according to any one of claims 1 to 5, wherein: The calculation unit (414) determines whether or not the sum of the rotation amounts of the servo motor (402) in the repetition process is equal to or greater than a third threshold in each search process, and if it is determined that the sum of the rotation amounts of the servo motor (402) is equal to or greater than the third threshold, it terminates the repetition process, regardless of whether or not the determination unit (413) determines that the rotation of the servo motor (402) has been transmitted to the device (401). [7] Dead travel magnitude measuring device (400) according to claim 6, wherein when it is determined that the sum of the rotation magnitude of the servo motor (402) is equal to or greater than the third threshold value, the computation unit (414) transmits a control signal which causes a display device (406) connected to the dead travel magnitude measuring device (400) to display a warning. [8] Deadness amount measurement method, including: a rotation control step to perform a rotation process of turning by a certain amount, a servo motor connected to a device via a power transmission means; a waveform data acquisition step to perform a waveform data acquisition process of acquiring waveform data that is obtained when the servo motor is rotated by a certain amount through the rotation process; a determination step to perform a determination process of determining whether or not rotation was transferred to the device when the servo motor was rotated by the determined amount through the rotation process, based on the waveform data; a computation step to initiate a repetition process of repeating a search process to be executed, wherein the search process is formed by the rotation process, the waveform data acquisition process, and the determination process; to terminate the repetition process when the determination process determines that the rotation of the servo motor has not been transmitted to the device; and to calculate, as a dead-run amount of the energy transfer means, a sum of a rotation amount in the repetition process, wherein the rotation amount is an amount by which the rotation process has rotated the servo motor; and a continuous measurement step to measure the duration of a waveform specified in the waveform data when the determination step determines that the rotation of the servo motor was not transmitted to the device, wherein The calculation step sets the duration as the waiting time after the execution of the search process and until the execution of the next search process in the repetition process. [9] Deadness amount measurement method, including: a rotation control step to perform a rotation process of turning by a certain amount, a servo motor connected to a device via a power transmission means; a waveform data acquisition step to perform a waveform data acquisition process of acquiring waveform data that is obtained when the servo motor is rotated by a certain amount through the rotation process; a determination step to perform a determination process of determining whether or not rotation was transmitted to the device when the servo motor was rotated by the specified amount through the rotation process, based on the waveform data; and a computation step to initiate a repetition process of repeating a search process to be executed, wherein the search process is formed by the rotation process, the waveform data acquisition process, and the determination process; to terminate the repetition process when the determination process determines that the rotation of the servo motor has not been transmitted to the device; and to calculate, as a dead-run amount of the energy transmission means, a sum of a rotation amount in the repetition process, wherein the rotation amount is an amount by which the rotation process has rotated the servo motor. The waveform data acquisition step acquires the waveform vibration data, indicating vibration of the device, which is detected by a vibration sensor connected to the device. [10] Deadfall measurement method, comprising: a rotation control step to perform a rotation process of turning by a certain amount, a servo motor connected to a device via a power transmission means; a waveform data acquisition step to perform a waveform data acquisition process of acquiring waveform data that is obtained when the servo motor is rotated by a certain amount through the rotation process; a determination step to perform a determination process of determining whether or not rotation was transmitted to the device when the servo motor was rotated by the specified amount through the rotation process, based on the waveform data; and a computation step to initiate a repetition process of repeating a search process to be executed, wherein the search process is formed by the rotation process, the waveform data acquisition process, and the determination process; to terminate the repetition process when the determination process determines that the rotation of the servo motor has not been transmitted to the device; and to calculate, as a dead-run amount of the energy transmission means, a sum of a rotation amount in the repetition process, wherein the rotation amount is an amount by which the rotation process has rotated the servo motor. The waveform data acquisition step acquires the waveform data noise data, indicating operating noise of the device, which is detected by a noise sensor installed near the device. [11] A dead-run amount measurement program that causes a computer to perform all the steps described in any one of claims 8 to 10.

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