Wear 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. Mu Regarding. [Background technology]

[0002] Patent Document 1 below discloses a wear detection device that detects wear in an electromagnetic brake based on the brake release time. In Patent Document 1, the brake release time refers to the time from when a brake control signal is detected to when a rotation angle detection value of a rotation angle sensor that detects the rotation angle of the motor changes, in a state in which the motor is controlled to maintain its rotation angle by the weight of a member attached to the rotating shaft of the motor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-2471 Summary of the Invention [Problem to be solved by the invention]

[0004] In the wear detection device of Patent Document 1, depending on the orientation of the rotating shaft, the amount of change in the rotation angle of the motor due to the weight of the member attached to the rotating shaft becomes small, making it difficult to detect wear. Also, because wear detection is performed based on the instantaneous rotational movement when the brake is released, it is difficult to perform stable and accurate detection.

[0005] One of the purposes of the present disclosure is to provide a wear information calculation system that can accurately calculate information about the wear state. M The purpose is to provide. [Means for solving the problem]

[0006] A 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 that a brake is equipped with, and includes a movement control unit that moves the non-rotating body between a displacement position where the non-rotating body comes into contact with the rotating body and stops rotation of the rotating body, and which displaces depending on the wear state, and a predetermined fixed position that is spaced apart from the rotating body; a vibration detection unit that detects vibrations that occur when the non-rotating body reaches the fixed position; and 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 the vibration. [Effects of the Invention]

[0007] According to the present disclosure, information regarding the wear state can be calculated with high accuracy. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 2 is a diagram illustrating an example of a hardware configuration of the wear information calculation system. [Figure 2A] FIG. 2 is a cross-sectional view schematically showing a motor and a brake in a braking state. [Figure 2B] FIG. 4 is a cross-sectional view schematically showing the motor and the brake in a released state. [Figure 3] FIG. 2 is a diagram illustrating an example of functions realized by the wear information calculation system. [Figure 4] 10 is a timing chart for explaining a measurement time. [Figure 5] FIG. 10 is a diagram for explaining that the measurement time changes depending on the environmental temperature. [Figure 6] 4 is a flowchart showing a process executed by the wear information calculation system. [Figure 7] FIG. 1 is a diagram schematically illustrating an example of a robot arm. [Figure 8] FIG. 10 is a diagram illustrating the measurement start timing in a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0009] [Overall configuration of the 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 related to the wear state of a brake B. The wear information calculation system 1 includes a host 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 to this, and the wear information calculation system 1 only needs to include at least one computer. Furthermore, for example, the host control device 10 and the drive control device 20 may each be composed of multiple computers. Furthermore, although not shown, the wear information calculation system 1 may also include a device operated by a user.

[0010] The upper control device 10 generates a motor command to control the operation of the motor M and transmits it to the drive control device 20. The motor command may be a position command to control the rotational position of the motor M, a speed command to control the angular velocity of the motor M, a torque command to control the torque of the motor M, or the like. The upper control device 10 also generates a brake command to control the operation of the brake B and transmits it to the drive control device 20. The upper control device 10 may be configured, for example, by a general-purpose personal computer, a PLC (Programmable 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 processor. The control unit 21 executes programs 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 host control device 10 and the rotational position information received from the encoder E, and controls the driving 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 a brake command received from the host control device 10.

[0014] The encoder E detects 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 related to vibrations 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, the present invention is not limited to this, and the acceleration sensor A may be provided in a position where it can detect detection information related to vibrations in at least the brake B. Furthermore, although the present embodiment will be described using the acceleration sensor A as an example, the present invention is not limited to this, and other sensors that can detect vibrations may be used.

[0016] The program stored in the drive control device 20 may be supplied via a network. The hardware configuration of the drive control device 20 is not limited to the above example and various types of hardware may be applied. For example, the drive control device 20 may include a reading unit (e.g., a memory card slot) that reads 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 the motor and brake in a braking state. FIG. 2B is a cross-sectional view schematically showing the motor and 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 is rotatable. Note that in FIGS. 2A and 2B, only the rotating shaft 31 of the motor M is shown, and other parts are not shown.

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

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

[0020] In this embodiment, the brake B is a so-called non-excitation brake. That is, when the brake coil 42 is de-energized, the brake B is in a braking state in which the rotation of the motor M is braked (see FIG. 2A), and when the brake coil 42 is energized, the brake B is in a released state in which the motor M is rotatable (see FIG. 2B).

[0021] In the following description, the operation of the brake B that brakes the motor M is referred to as a "brake operation," and the operation of the brake B that releases the braking of the motor M is referred to as a "brake release operation." Furthermore, a command from the upper control device 10 to perform the brake operation is referred to as a "brake command," and a command to perform the brake release operation is referred to as a "brake release command."

[0022] The field core 41 holds a brake coil 42 and a 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 and axial directions.

[0023] The brake coil 42 constitutes 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 is energized by power supplied from the drive control device 20. In the energized state, the brake coil 42 generates a magnetic force that attracts the armature 44. In the energized state, the magnetic force that attracts the armature 44 by the brake coil 42 is preferably greater than the force that elastically biases the armature 44 by the biasing spring 43. A plurality of brake coils 42 may be provided lined up in the rotational direction.

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

[0025] The armature 44 is provided so as to be non-rotatable but movable in the axial direction, and 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 or the like (not shown) so as to prevent movement in the rotational and axial directions.

[0027] The brake disc 45 is provided so as to be rotatable together with the rotary shaft 31 and so as to be movable in the axial direction. For example, the brake disc 45 may be attached to the rotary shaft 31 via a spline mechanism so as to be movable in the axial direction relative to the rotary 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, friction material 45a is provided on the surface of the brake disc 45 facing the armature 44, and friction material 45b is provided on the surface facing the side plate 46. The brake disc 45 brakes the rotation of the motor M by friction generated between the armature 44 and the friction material 45a and friction generated between the side plate 46 and the friction material 45b.

[0029] As shown in FIG. 2A, when the brake coil 42 is in a non-energized state, 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, when the brake coil 42 is energized, the brake disc 45 is spaced a predetermined distance from the armature 44 and the side plate 46, allowing the motor M to rotate.

[0031] As described above, among the members of brake B, brake disc 45 can rotate together with rotating shaft 31, while the other members do not rotate. In addition, armature 44 and brake disc 45 can move in the axial direction, while the other members do not move in the axial direction.

[0032] Here, the friction material 45a wears due to friction generated between it and the armature 44, and the friction material 45b wears due to friction generated between it and the side plate 46. If the amount of wear of these friction materials becomes too great, there is a risk that a malfunction will occur in the brake B. As a result, there is a risk that the rotation of the motor M will no longer be able to be braked properly.

[0033] Therefore, the wear information calculation system 1 according to this embodiment employs a configuration for calculating the wear rate of the friction material of the brake B in order to determine whether the brake B is normal or not.

[0034] [Functions realized by the wear information calculation system] 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 the 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, this is not limiting, and each of these functions may be realized by another computer 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. The movement control unit 51 also moves the armature 44 from the fixed position to the displacement position by switching the brake coil 42 from a energized state to a non-energized state.

[0036] The displaced position is the position of the armature 44 where it contacts the brake disc 45 to stop the rotation of the brake disc 45, and is a position that is displaced depending on the wear state of the brake B. The fixed position is the position of the armature 44 that is separated from the brake disc 45, and is a fixed position regardless of the wear state of the brake B. For example, when the friction materials 45a, 45b are worn, the displaced position is closer to the side plate 46. In other words, the distance between the displaced position and the fixed position becomes longer, and the time it takes for the armature 44 to move from the displaced position to the fixed position also becomes longer. FIG. 2A shows the armature 44 in the displaced position, and FIG. 2B shows the armature 44 in the fixed position.

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

[0038] When the brake release operation is performed, 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 preferably detects acceleration in the axial direction and two axial directions perpendicular to the axial direction (a total of three axial directions). The vibration detection unit 52 preferably detects vibration when a composite value obtained by combining the detected values in the three axial directions exceeds a predetermined threshold. By detecting vibration based on the composite value in this manner, the accuracy of vibration detection can be improved compared to when vibration detection is based only on detected values in one axial direction. However, the present invention is not limited to this, and the vibration detection unit 52 may detect acceleration only in the axial direction (the direction in which the armature 44 moves), for example.

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

[0041] In this embodiment, the wear rate W is a predetermined longest time (first time) T , which is the time until the vibration detection unit 52 detects vibration when the wear state is in a critical state (first state). Max and a predetermined shortest time (second time) T 1 , which is the time until the vibration detection unit 52 detects vibration when the wear state is in the initial state (second state). Min The difference between the measurement time T and the predetermined shortest time T MinThe wear rate W is the ratio of the difference between the friction materials 45a and 45b. Specifically, the wear rate W is expressed by the following mathematical formula (1). The initial state, which is the second state, is, for example, a state of brake B in which the friction materials 45a and 45b are unused and not worn. The limit state, which is the first state, is, for example, a state in which brake B may malfunction if the friction materials 45a and 45b wear further. However, this is not limited to this, and it is preferable that at least the second state is a state in which the amount of wear is less than the first state, and the second time is shorter than the first time.

[0042]

number

[0043] Here, measurement time T is the time from the start of measurement until the value detected by acceleration sensor A becomes equal to or greater than a predetermined threshold. Fig. 4 shows an example in which the value detected by acceleration sensor A becomes equal to or greater than the predetermined threshold when T seconds have elapsed since the start of measurement. By detecting vibrations based on the predetermined threshold in this way, it is possible to prevent small vibrations other than those occurring when armature 44 reaches a fixed position from being mistakenly detected.

[0044] The measurement start timing may be the timing when a brake release command is transmitted from the upper control device 10. Alternatively, taking into consideration the lag between when the brake release command is transmitted and when the drive control device 20 receives the brake release command, the measurement start timing may be the timing when a predetermined time has elapsed since the brake release command was transmitted. Alternatively, taking into consideration the lag between when the drive control device 20 receives the brake release command and when brake B starts the brake release operation, the measurement start timing may be the timing when a predetermined time has elapsed since the brake release command was transmitted.

[0045] The determination unit 54 determines whether the brake B is normal or not based on the wear rate. For example, the determination unit 54 may determine that the brake B is abnormal if the wear rate is equal to or greater than a predetermined rate. 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 abnormal. This can prompt the user to repair the brake B or replace the part.

[0046] The determination unit 54 is not essential, and may be configured to simply notify the user of the wear rate W calculated by the calculation unit 53. The user may then determine for himself or herself whether the brake B is normal or not based on the wear rate W.

[0047] The temperature detection unit 55 detects the ambient temperature around the brake coil 42 based on the detected value of a temperature sensor, for example. The temperature sensor is preferably disposed in a position where it can detect at least the temperature around the brake coil 42.

[0048] Here, as shown in Fig. 5, the measurement time T may change depending on the environmental temperature around the brake B. The horizontal axis of Fig. 5 represents the distance between the displaced position and the fixed position, and the vertical axis represents time.

[0049] 5 shows that the higher the environmental temperature around brake B, the longer the measurement time T. Specifically, in the initial state, when the environmental temperature is 20°C, the measurement time T is T1, when the environmental temperature is 60°C, the measurement time T is T2 (>T1), and when the environmental temperature is 100°C, the measurement time T is T3 (>T2).

[0050] The reason why the measurement time T changes depending on the environmental temperature is that the resistance value of the brake coil 42 changes due to the influence of temperature. For example, when the environmental temperature is high, the resistance value of the brake coil 42 increases, which reduces the amount of current flowing through the brake coil 42, resulting in a longer measurement time T. Therefore, it is advisable to correct the above formula (1) for calculating the wear rate W according to the environmental temperature detected by the temperature detection unit 55. For example, the calculation unit 53 calculates the longest time T Max and the shortest time T Min It is advisable to add a predetermined correction value according to the environmental temperature to the above, or multiply it by a predetermined correction coefficient, and then calculate the wear rate W using the above formula (1).

[0051] The power supply voltage detection unit 56 detects the power supply voltage that drives the brake B. Even if the environmental temperature is the same, the measurement time T changes depending on the power supply voltage. For example, the higher the power supply voltage, the larger the amount of current supplied to the brake B, and the faster the moving speed of the armature 44. As the moving speed of the armature 44 increases, the measurement time T becomes shorter. Therefore, it is advisable to correct the above formula (1) that calculates the wear rate W depending on the power supply voltage detected by the power supply voltage detection unit 56. For example, the calculation unit 53 calculates the longest time T Max and the shortest time T Min It is advisable to add a predetermined correction value according to the power supply voltage to or multiply by a predetermined correction coefficient, and then calculate the wear rate W using the above formula (1).

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

[0053] First, the drive control device 20 receives a brake release command from the host 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). Furthermore, the calculation unit 53 calculates the wear rate based on the measurement time from the measurement start timing until the vibration is detected (S4). Note that the calculation of the wear rate by the calculation unit 53 may be performed using a correction value according to the environmental temperature and power supply voltage, as described above.

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

[0056] In the wear information calculation system 1 according to the present embodiment described above, information on the wear state is calculated by detecting vibrations caused by the brake release operation, so that the information on the wear state can be calculated with high accuracy regardless of the amount of rotation of the motor M. Furthermore, the influence of the ambient temperature and power supply voltage can be suppressed, and the information on the wear state can be calculated with high accuracy.

[0057] [Variations] A modified example of the wear information calculation system will be described with reference to Fig. 7 and Fig. 8. Fig. 7 is a diagram schematically showing an example of a robot arm. Fig. 8 is a diagram illustrating the measurement start timing in the modified example.

[0058] The robot arm having the mechanism shown in Fig. 7 has three joints, each of which is provided with a motor M, a brake B, and an acceleration sensor A. Specifically, a first joint J1 is provided with a motor M1, a brake B1, and an acceleration sensor A1, a second joint J2 adjacent to the first joint J1 is provided with a motor M2, a brake B2, and an acceleration sensor A2, and a third joint J3 adjacent to the second joint J2 is provided with a motor M3, a brake B3, and an acceleration sensor A3. All of the motors M1 to M3 and the brakes B1 to B3 operate in response to commands from a host control device 10.

[0059] If the host controller 10 issues brake release commands to the brakes B1 to B3 simultaneously or at similar times, the acceleration sensors A1 to A3 of the brakes B1 to B3 will detect vibrations at similar times. As a result, for example, the acceleration sensor A2 corresponding to the brake B2 may erroneously detect vibrations that occur when the brake disc 45 of the brake B1 reaches the brake coil 42. This may prevent the measurement time from being properly acquired for each brake, making it impossible to properly calculate the wear rate.

[0060] Therefore, in this modification, as shown in Fig. 8, the timing at which the brake release command is received from the host control device 10 is made different for each of the brakes B1 to B3. As a result, the timing at which the brake release operation is started is made different for each of the brakes B1 to B3. Specifically, Fig. 8 shows an example in which the brake release command is received for brake B2 after time t1 has elapsed since brake B1 received the brake release command, and the brake release command is received for brake B3 after time t2 has elapsed since brake B2 received the brake release command. This makes it possible to suppress the above-mentioned erroneous detection of vibration.

[0061] The timing at which the brake release operation of each of the brakes B1 to B3 starts may be made different by shifting the timing at which the brake release command is transmitted from the higher-level control device 10. Alternatively, the time from when the brake release command is received until the brake release operation starts may be made different for each of the brakes B1 to B3.

[0062] Furthermore, it is preferable to differentiate the timings at which the brake release operations of at least the brakes B of adjacent joints start. This is because erroneous detection is likely to occur at adjacent joints. Therefore, for example, it is preferable to differentiate the timings at which the brake release operations of at least the brake B2 of the joint J2 and the brakes B1 and B3 of the joint J1 and joint J3 start.

[0063] 7 shows a robot arm having three joints J1 to J3, but the present invention is not limited to this and may be a mechanism having at least two or more joints. Furthermore, the rotation direction of the motors provided in each joint is not limited to the direction of the arrows in the drawing. Furthermore, the motor M is not limited to one that drives a joint, and it is sufficient that at least two or more motors M and their corresponding brakes B and acceleration sensors A are provided in a common mechanism.

[0064] [Other variations] In the present embodiment, an example has been described in which friction material is provided on the brake disc 45, which is a rotating body, but this is not limiting, and friction material may also be provided on the surfaces of the field core 41 and the side plate 46, which are non-rotating bodies. In other words, the wear information calculation system 1 may calculate information regarding the wear state of a non-rotating body.

[0065] In addition, in this embodiment, a so-called double-sided brake in which friction material is provided on both sides of the brake disc 45 is shown, but this is not limited to this, and a so-called single-sided brake in which friction material is provided on only one side of the brake disc 45 may also be used.

[0066] In addition, in this embodiment, a non-excitation operation type brake that brakes the motor M when it is not energized is used as an example, but this is not limited to this and it may also be an excitation operation type brake that brakes the motor M when it is energized.

[0067] [Note] For example, the wear information calculation system 1 can also be configured as follows. (1) A wear information calculation system that calculates information about a 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 where the non-rotating body comes into contact with the rotating body to stop rotation of the rotating body and is displaced in accordance with the wear state, and a predetermined fixed position where the non-rotating body is separated from the rotating body; a vibration detection unit that detects vibrations that occur when the non-rotating body reaches the fixed position; a calculation unit that calculates information about 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; and A wear information calculation system having the above structure. (2) the measurement time is a time from the measurement start timing to the time when 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 A wear rate is calculated as information about the wear state, which is the ratio of the 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 in which the amount of wear is less than that in the first state, to the difference between the measured time and the second time. The wear information calculation system according to (1) or (2). (4) the first time period is a time period required for the vibration to be detected when the wear state is at a critical state, the second time period is a time period until the vibration is detected when the wear state is in an initial state, (3) A wear information calculation system according to the present invention. (5) the brake includes a brake coil; the movement control unit controls a current-carrying state of the brake coil to move the non-rotating body between the displacement position and the fixed position, the calculation unit calculates the wear rate based on the predetermined first time period and the predetermined second time period. The wear information calculation system according to (3) or (4). (6) 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 in accordance with the temperature, and calculates the wear rate based on the acquired first time and second time. (5) A wear information calculation system according to the present invention. (7) the calculation unit acquires the first time and the second time in accordance with a 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 any one of (3) to (6). (8) a determination unit that determines whether the brake is normal or not based on the information about the wear state; The wear information calculation system according to any one of (1) to (7). (9) an acceleration sensor; the vibration detection unit detects the vibration based on a detection value of the acceleration sensor in at least a direction in which the non-rotating body moves; The wear information calculation system according to any one of (1) to (8). (10) the brakes include a first brake and a second brake provided on a common mechanism; The calculation unit calculating information about the wear states of the first brake and the second brake, respectively, by setting a timing at which the non-rotating body of the first brake starts to move from the displacement position to the fixed position to be different from a timing at which the non-rotating body of the second brake starts to move from the displacement position to the fixed position; The wear information calculation system according to any one of (1) to (9). [Explanation of symbols]

[0068] 1 Friction information calculation control system, 10 Upper control device, 20 Drive control device, 21 Control unit, 22 Memory unit, 23 Communication unit, 31 Rotating shaft, 41 Field core, 42 Brake coil, 43 Spring, 44 Armature, 45 Brake disc, 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 about the wear state of at least one of a rotating body and a non-rotating body provided in a brake including a brake coil, a movement control unit that controls a current supply state of the brake coil to move the non-rotating body between a displacement position where the non-rotating body comes into contact with the rotating body to stop rotation of the rotating body and where the displacement position varies depending on the wear state, and a predetermined fixed position where the non-rotating body is separated from the rotating body; a vibration detection unit that detects vibrations that occur when the non-rotating body reaches the fixed position; a calculation unit that calculates information about 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; and a temperature detection unit that detects at least the temperature around the brake coil; and The calculation unit 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 in which the amount of wear is less than that in the first state, according to the temperature; a wear rate, which is a ratio of the difference between the measurement time and the second time to the difference between the first time and the second time, is calculated as information about the wear state; Wear information calculation system.

2. A wear information calculation system that calculates information about 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 where the non-rotating body comes into contact with the rotating body to stop rotation of the rotating body and is displaced in accordance with the wear state, and a predetermined fixed position where the non-rotating body is separated from the rotating body; a vibration detection unit that detects vibrations that occur when the non-rotating body reaches the fixed position; a calculation unit that calculates information about 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; and and The calculation unit 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 in which the amount of wear is less than that in the first state, according to a power supply voltage of the brake; a wear rate, which is a ratio of the difference between the measurement time and the second time to the difference between the first time and the second time, is calculated as information about the wear state; Wear information calculation system.

3. the measurement time is a time from the measurement start timing to the time when 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 claim 1 or 2.

4. the first time period is a time period required for the vibration to be detected when the wear state is at a critical state, the second time period is a time period until the vibration is detected when the wear state is in an initial state, The wear information calculation system according to claim 1 or 2.

5. a determination unit that determines whether the brake is normal or not based on the information about the wear state; The wear information calculation system according to claim 1 or 2.

6. an acceleration sensor; the vibration detection unit detects the vibration based on a detection value of the acceleration sensor in at least a direction in which the non-rotating body moves; The wear information calculation system according to claim 1 or 2.

7. the brakes include a first brake and a second brake provided on a common mechanism; The calculation unit calculating information about the wear states of the first brake and the second brake, respectively, by setting a timing at which the non-rotating body of the first brake starts to move from the displacement position to the fixed position to be different from a timing at which the non-rotating body of the second brake starts to move from the displacement position to the fixed position; The wear information calculation system according to claim 1 or 2.

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