Abrasion information calculation system

Abstract

To calculate information on an abrasion state with a high degree of precision.SOLUTION: An abrasion information calculation system (1) for calculating information on an abrasion state of at least one of a rotation body and a non-rotation body of a brake (B) includes: a movement control unit (51) for moving the non-rotation body between a displacement position which is a position in contact with the rotation body for stopping the rotation of the rotation body and is displaced according to the abrasion state, and a predetermined fixed position separated from the rotation body; a vibration detection unit (52) for detecting vibration generated when the non-rotation body reaches the fixed position; and a calculation unit (53) for calculating information on the abrasion state on the basis of a measurement time from measurement start timing based on a command to cause the non-rotation body to move from the displacement position to the fixed position to the detection of the vibration by the vibration detection unit (52).SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to a wear information calculation system, a wear information calculation method, and a program.

Background Art

[0002] Patent Document 1 below discloses a wear detection device that detects that an electromagnetic brake is worn based on the brake release time. In Patent Document 1, the brake release time is the time from the timing when a brake control signal is detected to the timing when the rotation angle detection value of a rotation angle sensor that detects the rotation angle of a motor changes, in a state where the motor is controlled to hold the rotation angle by the weight of a member attached to the rotation shaft of the motor.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, in the wear detection device of Patent Document 1, depending on the direction of the rotation shaft, the amount of change in the rotation angle of the motor due to the weight of the member attached to the rotation shaft becomes small, making it difficult to perform wear detection. Further, since wear detection is performed based on the instantaneous rotational motion at the time of brake release, it is difficult to perform stable and accurate detection.

[0005] One object of the present disclosure is to provide a wear information calculation system, a wear information calculation method, and a program capable of accurately calculating information regarding a wear state.

Means for Solving the Problems

[0006] The wear information calculation system according to one aspect of the present disclosure is a wear information calculation system that calculates information regarding the wear state of at least one of a rotating body and a non-rotating body provided in a brake, the non-rotating body being a displacement position that contacts the rotating body and stops the rotation of the rotating body and displaces according to the wear state, a moving control unit that moves between a predetermined fixed position separated from the rotating body, a vibration detection unit that detects vibration generated when the non-rotating body reaches the fixed position, and a calculation unit that calculates information regarding the wear state based on a measurement time from a measurement start timing based on a command to move the non-rotating body from the displacement position to the fixed position until the vibration detection unit detects vibration.

Advantages of the Invention

[0007] According to the present disclosure, information regarding the wear state can be accurately calculated.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2A

Figure 2B

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Mode for Carrying Out the Invention

[0009] [Overall Configuration of Wear Information Calculation System] FIG. 1 is a diagram showing an example of the hardware configuration of a wear information calculation system. The wear information calculation system 1 is a system that calculates information regarding the wear state in the brake B. The wear information calculation system 1 includes an upper control device 10, a drive control device 20, a motor M, a brake B, an encoder E, and an acceleration sensor A. Note that the hardware configuration shown in FIG. 1 is an example and is not limited thereto, and the wear information calculation system 1 may include at least one computer. Also, for example, the upper control device 10 and the drive control device 20 may each be configured by a plurality of computers. Also, although not shown in the figure, the wear information calculation system 1 may include a device operated by a user.

[0010] The upper control device 10 generates a motor command for controlling the operation of the motor M and transmits it to the drive control device 20. The motor command may be a position command for controlling the rotational position of the motor M, a speed command for controlling the angular velocity of the motor M, a torque command for controlling the torque of the motor M, and the like. Also, the upper control device 10 generates a brake command for controlling the operation of the brake B and transmits it to the drive control device 20. The upper control device 10 may be configured by, for example, a general-purpose personal computer, a PLC (Programable Logic Controller), a motion controller, or the like.

[0011] The drive control device 20 includes a control unit 21, a storage unit 22, and a communication unit 23. The control unit 21 includes at least one or more processors. The control unit 21 executes a program stored in the storage unit 22 and controls the driving of the motor M and the brake B. The storage unit 22 includes at least one of a volatile memory and a non-volatile memory. The communication unit 23 includes at least one of a communication interface for wired communication and a communication interface for wireless communication.

[0012] The drive control device 20 supplies power to the motor M based on the motor command received from the upper control device 10 and the rotational position information received from the encoder E, and controls the drive of the motor M.

[0013] The drive control device 20 controls the drive of the brake B by switching ON / OFF the supply of power to the brake B based on the brake command received from the upper control device 10.

[0014] The encoder E detects the rotational position information of the motor M and transmits the rotational position information to the drive control device 20.

[0015] The acceleration sensor A detects detection information regarding the vibration in the brake B and transmits the detection information to the drive control device 20. The acceleration sensor A may be provided, for example, in the encoder E. However, it is not limited thereto, and the acceleration sensor A may be provided at a position where at least detection information regarding the vibration in the brake B can be detected. Also, in the present embodiment, the acceleration sensor A is described as an example, but it is not limited thereto, and other sensors may be used as long as vibration can be detected.

[0016] Note that the program stored in the drive control device 20 may be supplied via a network. Also, the hardware configuration of the drive control device 20 can apply various hardware and is not limited to the above example. For example, it may include a reading unit (e.g., a memory card slot) for reading a computer-readable information storage medium, or an input / output unit (e.g., a USB terminal) for connecting to an external device. In this case, the program stored in the information storage medium may be supplied via the reading unit or the input / output unit.

[0017] [Motor] FIG. 2A is a cross-sectional view schematically showing a motor and a brake in a braking state. FIG. 2B is a cross-sectional view schematically showing a motor and a brake in a released state. The braking state is a state in which the rotation of the motor M is braked by the brake B. The released state is a state in which the braking by the brake B is released and the motor M can rotate. In FIGS. 2A and 2B, only the rotation shaft 31 (shaft) of the motor M is shown, and the illustration of other parts is omitted.

[0018] The motor M may be, for example, a servo motor. In the present embodiment, an example in which the motor M is a motor with a brake configured integrally with the brake B will be described. The motor M rotates about the rotation shaft 31 as the rotation center. In the following description, the direction in which the rotation shaft 31 rotates is referred to as the rotation direction, and the direction in which the rotation shaft 31 extends is referred to as the axial direction.

[0019] [Brake] The brake B may be, for example, an electromagnetic brake. The brake B includes a field core 41, a brake coil 42, a biasing spring 43, an armature 44, a brake disk 45, and a side plate 46.

[0020] In the present embodiment, the brake B is a so-called non-excitation operation type brake. That is, when the brake coil 42 is in a non-energized state, the rotation of the motor M is braked (see FIG. 2A), and when the brake coil 42 is in an energized state, the motor M can rotate (see FIG. 2B).

[0021] In the following description, the operation of the brake B for braking the motor M is referred to as the "brake operation", and the operation of the brake B for releasing the braking of the motor M is referred to as the "brake release operation". Also, a command for performing the brake operation from the upper control device 10 is referred to as a "brake command", and a command for performing the brake release operation is referred to as a "brake release command".

[0022] The field core 41 holds the brake coil 42 and the biasing spring 43. The field core 41 is fixed to a bracket (not shown) or the like so as not to move in the rotational direction and the axial direction.

[0023] The brake coil 42 forms an electromagnet together with a magnetic member disposed inside the brake coil 42. The brake coil 42 is electrically connected to the drive control device 20, and becomes energized by the electric power supplied from the drive control device 20, and generates a magnetic force that attracts the armature 44 in the energized state. The magnetic force by which the brake coil 42 attracts the armature 44 in the energized state is preferably greater than the force by which the biasing spring 43 elastically biases the armature 44. A plurality of brake coils 42 may be provided side by side in the rotational direction.

[0024] One end side of the biasing spring 43 is connected to the field core 41, and the other end side is connected to the armature 44. The biasing spring 43 elastically biases the armature 44 toward the field core 46 side. A plurality of biasing springs 43 may be provided side by side in the rotational direction.

[0025] The armature 44 is provided so as not to be rotatable and to be movable in the axial direction. The armature 44 is movable in the axial direction by the biasing force of the biasing spring 43 and the magnetic force generated in the brake coil 42.

[0026] The side plate 46 is fixed to a bracket (not shown) or the like so as not to move in the rotational direction and the axial direction.

[0027] The brake disk 45 is provided so as to be rotatable together with the rotating shaft 31 and to be movable in the axial direction. For example, the brake disk 45 may be attached to the rotating shaft 31 via a spline mechanism so as to allow axial movement with respect to the rotating shaft 31.

[0028] A friction material is provided on the surface of the brake disc 45. The friction material is provided on both sides of the brake disc. Specifically, the friction material 45a is provided on the surface of the brake disc 45 on the armature 44 side, and the friction material 45b is provided on the surface on the side plate 46 side. The brake disc 45 brakes the rotation of the motor M by the friction generated between the armature 44 and the friction material 45a and the friction generated between the side plate 46 and the friction material 45b.

[0029] As shown in FIG. 2A, in the non-energized state of the brake coil 42, the brake disc 45 is sandwiched between the armature 44 and the side plate 46 by the biasing force of the biasing spring 43, thereby braking the rotation of the motor M.

[0030] On the other hand, as shown in FIG. 2B, in the energized state of the brake coil 42, the brake disc 45 is separated from the armature 44 and the side plate 46 by a predetermined distance, allowing the rotation of the motor M.

[0031] As described above, among the members included in the brake B, the brake disc 45 is rotatable together with the rotation shaft 31, and the other members do not rotate. Further, the armature 44 and the brake disc 45 are movable in the axial direction, and the other members do not move in the axial direction.

[0032] Here, the friction material 45a is worn by the friction generated between it and the armature 44, and the friction material 45b is worn by the friction generated between it and the side plate 46. If the wear amount of these friction materials becomes large, there is a risk that a problem may occur in the brake B. As a result, there is a risk that the rotation of the motor M cannot be braked normally.

[0033] Therefore, in the wear information calculation system 1 according to the present embodiment, in order to determine whether the brake B is normal, a configuration for calculating the wear rate of the friction material in the brake B is adopted.

[0034] [Functions realized by the wear information calculation system] FIG. 3 is a diagram showing an example of functions realized by the wear information calculation system 1. The wear information calculation system 1 includes a movement control unit 51, a vibration detection unit 52, a calculation unit 53, a determination unit 54, a temperature detection unit 55, and a power supply voltage detection unit 56. The movement control unit 51, the calculation unit 53, the determination unit 54, and the power supply voltage detection unit 56 may be realized by a control unit 21 provided in the drive control device 20. The vibration detection unit 52 may be realized by the control unit 21 provided in the drive control device 20 and an acceleration sensor A. The temperature detection unit 55 may be realized by the control unit 21 provided in the drive control device 20 and a temperature sensor (not shown). However, the present invention is not limited thereto, and each of these functions may be realized by other computers included in the wear information calculation system 1.

[0035] The movement control unit 51 moves the armature 44 between a displacement position and a fixed position. Specifically, the movement control unit 51 moves the armature 44 from the displacement position to the fixed position by switching the brake coil 42 from a non-energized state to an energized state. Further, the movement control unit 51 moves the armature 44 from the fixed position to the displacement position by switching the brake coil 42 from an energized state to a non-energized state.

[0036] The displacement position is the position of the armature 44 that contacts the brake disk 45 to stop the rotation of the brake disk 45, and is a position that is displaced according to the wear state of the brake B. The fixed position is the position of the armature 44 that is separated from the brake disk 45, and is a fixed position regardless of the wear state of the brake B. For example, in a state where the friction materials 45a and 45b are worn, the displacement position is a position close to the side plate 46. That is, the distance between the displacement position and the fixed position becomes longer, and the time until the armature 44 moves from the displacement position to the fixed position also becomes longer. In FIG. 2A, a state where the armature 44 is in the displacement position is shown, and in FIG. 2B, a state where the armature 44 is in the fixed position is shown.

[0037] The vibration detection unit 52 detects vibration generated when the armature 44 reaches the fixed position based on the detection value of the acceleration sensor A.

[0038] Here, when the brake release operation is executed, the armature 44 moves from the displacement position to the fixed position. When the armature 44 reaches the fixed position, it collides with the brake coil 42. The vibration generated at this time is detected by the vibration detection unit 52.

[0039] The acceleration sensor A may detect the acceleration in the axial direction and two axial directions (a total of three axial directions) orthogonal to the axial direction. Then, when the combined value obtained by combining the detection values in these three axial directions becomes equal to or greater than a predetermined threshold value, the vibration detection unit 52 may detect vibration. By performing vibration detection based on the combined value in this way, the accuracy of vibration detection can be improved as compared with the case where vibration detection is performed based only on the detection value in one axial direction. However, it is not limited to this, and the vibration detection unit 52 may detect, for example, only the acceleration in the axial direction (the direction in which the armature 44 moves).

[0040] The calculation unit 53 calculates a wear rate W, which is information regarding the wear state, based on the measurement time T from the measurement start timing based on a command for moving the armature 44 from the displacement position to the fixed position until the vibration detection unit 52 detects vibration.

[0041] In the present embodiment, the wear rate W is a predetermined maximum time (first time) T, which is the time until the vibration detection unit 52 detects vibration when the wear state is in the limit state (first state). Max And a predetermined minimum time (second time) T, which is the time until the vibration detection unit 52 detects vibration when the wear state is in the initial state (second state). Min And the difference between them, with respect to the measurement time T and the predetermined minimum time T MinIt is the ratio of the difference from [the comparison object]. Specifically, the wear rate W is expressed by the following mathematical formula (1). Note that the initial state, which is the second state, is, for example, the state of the brake B in which the friction materials 45a and 45b are unused and no wear has occurred. The limit state, which is the first state, is, for example, a state in which if the friction materials 45a and 45b are worn more, there may be a problem with the brake B. However, it is not limited to this, and at least, the second state should have less wear amount than the first state, and the second time should be shorter than the first time.

[0042]

Number

[0043] Here, the measurement time T is the time from the measurement start timing until the detection value by the acceleration sensor A becomes equal to or greater than a predetermined threshold value. In FIG. 4, an example is shown in which the detection value by the acceleration sensor A becomes equal to or greater than the predetermined threshold value when T seconds have elapsed from the measurement start timing. By performing vibration detection based on such a predetermined threshold value, it is possible to suppress erroneously detecting small vibrations other than the vibration when the armature 44 reaches the fixed position.

[0044] Note that the measurement start timing is preferably the timing when the brake release command from the upper control device 10 is transmitted. Alternatively, considering the lag from when the brake release command is transmitted until the drive control device 20 receives the brake release command, the timing when a predetermined time has elapsed from the timing when the brake release command is transmitted may be used as the measurement start timing. Alternatively, considering the lag from when the drive control device 20 receives the brake release command until the brake B starts the brake release operation, the timing when a predetermined time has elapsed from the timing when the brake release command is transmitted may be used as the measurement start timing.

[0045] The determination unit 54 determines whether the brake B is normal based on the wear rate. For example, when the wear rate is equal to or higher than a predetermined rate, the determination unit 54 may determine that the brake B is not normal. The wear information calculation system 1 may be configured to issue an alert to the user when the determination unit 54 determines that the brake B is not normal. Thereby, it is possible to prompt the user to repair the brake B or replace parts.

[0046] Note that the determination unit 54 is not essential, and a configuration may be adopted in which the wear rate W calculated by the calculation unit 53 is simply notified to the user. Then, the user himself / herself may determine whether the brake B is normal based on the wear rate W.

[0047] The temperature detection unit 55 detects the ambient temperature around the brake coil 42 based on, for example, the detection value of a temperature sensor. The temperature sensor may be arranged at a position where at least the temperature around the brake coil 42 can be detected.

[0048] Here, as shown in FIG. 5, the measurement time T may change depending on the ambient temperature around the brake B. The horizontal axis in FIG. 5 indicates the distance between the displacement position and the fixed position, and the vertical axis indicates time.

[0049] In FIG. 5, it shows that the higher the ambient temperature around the brake B, the longer the measurement time T becomes. Specifically, in the initial state, when the ambient temperature is 20°C, the measurement time T is T1; when the ambient temperature is 60°C, the measurement time T is T2 (>T1); and when the ambient temperature is 100°C, an example where the measurement time T is T3 (>T2) is shown.

[0050] The reason why the measurement time T changes according to the ambient temperature is that the resistance value of the brake coil 42 changes due to the influence of temperature. For example, when the ambient temperature is high, the resistance value of the brake coil 42 increases, resulting in a decrease in the current flowing through the brake coil 42. As a result, the measurement time T becomes longer. Therefore, it is advisable to correct the above formula (1) for calculating the wear rate W according to the ambient temperature detected by the temperature detection unit 55. For example, the calculation unit 53 adds a predetermined correction value corresponding to the ambient temperature to the longest time T Max and the shortest time T Min , multiplies by a predetermined correction coefficient, and then calculates the wear rate W according to the above formula (1).

[0051] The power supply voltage detection unit 56 detects the power supply voltage for driving the brake B. Even if the ambient temperature is the same, the measurement time T will change according to the power supply voltage. For example, the higher the power supply voltage, the greater the current flowing to the brake B, and the faster the moving speed of the armature 44, which is why. When the moving speed of the armature 44 increases, the measurement time T becomes shorter. Therefore, it is advisable to correct the above formula (1) for calculating the wear rate W according to the power supply voltage detected by the power supply voltage detection unit 56. For example, the calculation unit 53 adds a predetermined correction value corresponding to the power supply voltage to the longest time T Max and the shortest time T Min , multiplies by a predetermined correction coefficient, and then calculates the wear rate W according to the above formula (1).

[0052] [Flowchart] Next, with reference to FIG. 6, an example of the process executed by the wear information calculation system 1 will be described. FIG. 6 is a flowchart showing the process executed by the wear information calculation system. In FIG. 6, among the processes executed by the wear information calculation system 1, the processes executed by the drive control device 20 are shown. The processes shown in FIG. 6 are executed by the control unit 21 executing the control program stored in the storage unit 22. The process shown in FIG. 6 is an example of the process executed by the functional blocks shown in FIG. 3.

[0053] First, the drive control device 20 receives a brake release command from the upper control device 10 (S1). Then, the movement control unit 51 moves the armature 44 from the displacement position to the fixed position based on the brake release command (S2).

[0054] Next, the vibration detection unit 52 detects vibration based on the detection value detected by the acceleration sensor A (S3). Further, the calculation unit 53 calculates the wear rate based on the measurement time from the measurement start timing until vibration is detected (S4). Note that the calculation of the wear rate by the calculation unit 53 may be performed using correction values etc. according to the environmental temperature and power supply voltage as described above.

[0055] Thereafter, the determination unit 54 determines whether the brake B is normal or not based on the wear rate calculated by the calculation unit 53 (S5).

[0056] In the wear information calculation system 1 according to the present embodiment described above, by calculating information regarding the wear state by detecting vibration caused by the brake release operation, information regarding the wear state can be accurately calculated regardless of the rotation amount of the motor M. Also, the influence of the environmental temperature and power supply voltage can be suppressed, and information regarding the wear state can be accurately calculated.

[0057] [Modification Example] A modification example of the wear information calculation system will be described with reference to FIGS. 7 and 8. FIG. 7 is a diagram schematically showing an example of a robot arm. FIG. 8 is a diagram for explaining the measurement start timing in the modification example.

[0058] The robotic arm, which is the mechanism shown in Fig. 7, has three joints, and a motor M, a brake B, and an acceleration sensor A are respectively provided at each of these joints. Specifically, a motor M1, a brake B1, and an acceleration sensor A1 are provided at the first joint J1, a motor M2, a brake B2, and an acceleration sensor A2 are provided at the second joint J2 adjacent to the first joint J1, and a motor M3, a brake B3, and an acceleration sensor A3 are provided at the third joint J3 adjacent to the second joint J2. Motors M1 to M3 and brakes B1 to B3 all operate according to commands from the upper control device 10.

[0059] Here, when brake release commands for brakes B1 to B3 are respectively issued from the upper control device 10 at the same time or at close timings, vibration detection by acceleration sensors A1 to A3 will be performed at close timings in those brakes B1 to B3. Thereby, for example, there is a risk that the acceleration sensor A2 corresponding to brake B2 may erroneously detect the vibration generated when the brake disk 45 in brake B1 reaches the brake coil 42. As a result, it may not be possible to appropriately acquire the measurement time for each brake, and consequently, there is a risk that the wear rate cannot be appropriately calculated.

[0060] Therefore, in the modified example, as shown in Fig. 8, the timings at which the upper control device 10 receives the brake release commands are made different for each of brakes B1 to B3. As a result, the timings at which the brake release operations start are different for each of brakes B1 to B3. Specifically, in Fig. 8, an example is shown in which, in brake B2, the brake release command is received after a time t1 has elapsed from the timing at which brake B1 received the brake release command, and in brake B3, the brake release command is received after a time t2 has elapsed from the timing at which brake B2 received the brake release command. Thereby, the erroneous detection of vibration as described above can be suppressed.

[0061] Note that the timing of starting the brake release operation for each of the brakes B1 to B3 may be made different by shifting the timing at which the brake release command is transmitted from the upper control device 10. Alternatively, the time from receiving the brake release command to starting the brake release operation may be made different for each of the brakes B1 to B3.

[0062] Also, it is preferable that the timing of starting the brake release operation for the brake B provided in at least adjacent joint parts be different. This is because false detection is likely to occur in adjacent joint parts. Therefore, for example, it is preferable to make the timing of starting the brake release operation different between at least the brake B2 provided in the joint part J2 and the brakes B1 and B3 provided in the joint parts J1 and J3.

[0063] Note that in FIG. 7, a robot arm having three joint parts J1 to J3 is shown, but it is not limited thereto, and it is preferable that it be a mechanism having at least two or more joint parts. Also, the rotation direction of the motor provided in each joint part is not limited to the direction of the arrow in the figure. Also, the motor M is not limited to driving the joint part, and it is sufficient if at least two or more motors M, the corresponding brakes B, and the acceleration sensors A are provided in a common mechanism.

[0064] [Other Modification Examples] In this embodiment, an example in which a friction material is provided on the brake disk 45 which is a rotating body has been described, but it is not limited thereto, and a friction material may be provided on the surfaces of the field core 41 and the side plate 46 which are non-rotating bodies. That is, the wear information calculation system 1 may calculate information regarding the wear state of the non-rotating body.

[0065] Also, in this embodiment, a so-called double-sided brake in which friction materials are provided on both surfaces of the brake disk 45 has been shown, but it is not limited thereto, and a so-called single-sided brake in which a friction material is provided on only one surface of the brake disk 45 may be used.

[0066] In addition, in the present embodiment, a non-excitation operation type brake that brakes the motor M in a non-energized state has been described as an example, but the present invention is not limited thereto, and an excitation operation type brake that brakes the motor M in an energized state may also be used.

[0067] [Appendix] For example, the wear information calculation system 1 can also have the following configuration. (1) A wear information calculation system that calculates information regarding the wear state of at least one of a rotating body and a non-rotating body provided in the brake, a movement control unit that moves the non-rotating body between a displacement position that contacts the rotating body and stops the rotation of the rotating body and that displaces according to the wear state, and a predetermined fixed position that is separated from the rotating body; a vibration detection unit that detects vibration generated when the non-rotating body reaches the fixed position; a calculation unit that calculates information regarding the wear state based on the measurement time from the measurement start timing based on a command to move the non-rotating body from the displacement position to the fixed position until the vibration detection unit detects vibration; A wear information calculation system having the above components. (2) The measurement time is the time from the measurement start timing until the detection value by the vibration detection unit becomes equal to or greater than a predetermined threshold value. The wear information calculation system according to (1). (3) The calculation unit calculates, as information regarding the wear state, a wear rate that is a ratio of the difference between the measurement time and the second time to the difference between the first time, which is the time until the vibration is detected when the wear state is the first state, and the second time, which is the time until the vibration is detected when the wear state is a second state in which the wear amount is less than the first state. The wear information calculation system according to (1) or (2). (4) The first time is the time until the vibration is detected when the wear state is a critical state. The second time is the time until the vibration is detected when the wear state is in the initial state. The wear information calculation system according to (3). (5) The brake includes a brake coil. The movement control unit moves the non-rotating body between the displacement position and the fixed position by controlling the energization state of the brake coil. The calculation unit calculates the wear rate based on the predetermined first time and the second time. The wear information calculation system according to (3) or (4). (6) It has a temperature detection unit that detects at least the temperature around the brake coil. The calculation unit acquires the first time and the second time according to the temperature, and calculates the wear rate based on the acquired first time and the second time. The wear information calculation system according to (5). (7) The calculation unit acquires the first time and the second time according to the power supply voltage of the brake, and calculates the wear rate based on the acquired first time and the second time. The wear information calculation system according to any one of (3) to (6). (8) It has a determination unit that determines whether the brake is normal based on the information regarding the wear state. The wear information calculation system according to any one of (1) to (7). (9) It includes an acceleration sensor. The vibration detection unit detects the vibration based on at least the detection value of the acceleration sensor in the direction in which the non-rotating body moves. The wear information calculation system according to any one of (1) to (8). (10) The brake includes a first brake and a second brake provided in a common mechanism. The calculation unit The timing at which the non-rotating body included in the first brake starts to move from the displacement position to the fixed position is set as a timing different from the timing at which the non-rotating body included in the second brake starts to move from the displacement position to the fixed position, and information regarding the wear states of the first brake and the second brake is calculated respectively. The wear information calculation system according to any one of (1) to (9).

Explanation of Signs

[0068] 1 Friction information calculation control system, 10 Upper control device, 20 Drive control device, 21 Control unit, 22 Storage unit, 23 Communication unit, 31 Rotating shaft, 41 Field core, 42 Brake coil, 43 Biasing spring, 44 Armature, 45 Brake disk, 45a, 45b Friction material, 46 Side plate, 51 Movement control unit, 52 Vibration detection unit, 53 Calculation unit, 54 Judgment unit, 55 Temperature detection unit, 56 Power supply voltage detection unit, M Motor, B Brake, E Encoder, A Acceleration sensor, T Measurement time.

Claims

1. A wear information calculation system that calculates information regarding the wear state of at least one of a rotating body and a non-rotating body provided in a brake, a movement control unit that moves the non-rotating body between a displacement position that is in contact with the rotating body and stops the rotation of the rotating body and that displaces according to the wear state, and a predetermined fixed position that is separated from the rotating body, a vibration detection unit that detects vibration generated when the non-rotating body reaches the fixed position, and a calculation unit that calculates information regarding the wear state based on a measurement time from a measurement start timing based on a command to move the non-rotating body from the displacement position to the fixed position until the vibration detection unit detects vibration. A wear information calculation system having the above.

2. The measurement time is the time from the measurement start timing until a detection value by the vibration detection unit becomes equal to or greater than a predetermined threshold value. The wear information calculation system according to Claim 1.

3. The calculation unit calculates, as information regarding the wear state, a wear rate that is a ratio of a difference between a first time, which is the time until the vibration is detected when the wear state is in a first state, and a second time, which is the time until the vibration is detected when the wear state is in a second state where the amount of wear is less than that in the first state, to a difference between the measurement time and the second time. The wear information calculation system according to Claim 1.

4. The first time is the time until the vibration is detected when the wear state is in a critical state, and the second time is the time until the vibration is detected when the wear state is in an initial state. The wear information calculation system according to Claim 3.

5. The brake includes a brake coil, the movement control unit moves the non-rotating body between the displacement position and the fixed position by controlling the energization state of the brake coil, and the calculation unit calculates the wear rate based on the predetermined first time and second time. The wear information calculation system according to Claim 3 or 4.

6. having at least a temperature detection unit that detects the temperature around at least the brake coil, the calculation unit acquires the first time and the second time according to the temperature, and calculates the wear rate based on the acquired first time and second time. The wear information calculation system according to Claim 5.

7. The calculation unit acquires the first time and the second time according to the power supply voltage of the brake, and calculates the wear rate based on the acquired first time and second time. The wear information calculation system according to claim 3 or 4.

8. It has a determination unit that determines whether the brake is normal based on the information regarding the wear state. The wear information calculation system according to claim 1.

9. Including an acceleration sensor, The vibration detection unit detects the vibration based on at least the detection value of the acceleration sensor in the direction in which the non-rotating body moves. The wear information calculation system according to claim 1.

10. The brake includes a first brake and a second brake provided in a common mechanism, The calculation unit, The timing at which the non-rotating body included in the first brake starts moving from the displacement position to the fixed position is set as a timing different from the timing at which the non-rotating body included in the second brake starts moving from the displacement position to the fixed position, and information regarding the wear states of the first brake and the second brake is calculated respectively. The wear information calculation system according to claim 1.

11. A wear information calculation method for calculating information regarding the wear state of at least one of a rotating body and a non-rotating body provided in a brake, The non-rotating body is moved between a displacement position that is in contact with the rotating body and stops the rotation of the rotating body and that displaces according to the wear state, and a predetermined fixed position that is separated from the rotating body. The vibration generated when the non-rotating body reaches the fixed position is detected. Information regarding the wear state is calculated based on the measurement time from the measurement start timing based on a command for moving the non-rotating body from the displacement position to the fixed position until the vibration is detected. A wear information calculation method having the above.

12. A program for calculating information regarding the wear state of at least one of a rotating body and a non-rotating body provided in a brake, A movement control unit that moves the non-rotating body between a displacement position that is in contact with the rotating body and stops the rotation of the rotating body and that displaces according to the wear state, and a predetermined fixed position that is separated from the rotating body. A vibration detection unit that detects the vibration generated when the non-rotating body reaches the fixed position. A calculation unit that calculates information regarding the wear state based on a measurement time from a measurement start timing based on a command for moving the non-rotating body from the displacement position to the fixed position until the vibration is detected; A program for causing a computer to function as such.

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