公开(公告)号：US11981033B2

公开(公告)日：2024-05-14

申请号：US17622233

申请日：2020-06-24

申请人： Kawasaki Jukogyo Kabushiki Kaisha

发明人： Shinji Kitamura ,  Makoto Kawai ,  Tetsuo Kaneda ,  Tetsuya Taguchi

IPC分类号： B25J9/16 ,  B25J19/06 ,  G01M13/021 ,  G01R31/34

CPC分类号： B25J9/1674 ,  B25J19/06 ,  G01M13/021 ,  G01R31/343

摘要： A failure diagnosing device diagnoses failure of a plurality of reduction gears of a mechanical apparatus which includes a plurality of operation parts, a plurality of motors, and the plurality of reduction gears. The failure diagnosing device includes an acceleration/deceleration period identifying module configured to identify an acceleration/deceleration period of operation of one of the plurality of operation parts, a motor current processing module configured to acquire a peak value of an amplitude of a frequency component of motor current in a specific frequency band of one motor that drives the one operation part, in the acceleration/deceleration period, and a determining module configured to determine whether a sign of failure exists in one of the reduction gears.