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公开(公告)号：US10946523B2
公开(公告)日：2021-03-16
申请号：US15575569
申请日：2015-05-20
发明人： Toshiyuki Shimizu
摘要： A failure diagnostic device includes a torque detector that detects disturbance torques applied to joint shafts included in a multi-axis robot, a torque grouping circuit that groups the disturbance torques according to a content of an operation executed by the multi-axis robot upon detection of each disturbance torque, a torque correction circuit that obtains a corrected disturbance torque standardized between a plurality of operations with different contents based on a representative value preliminarily set for each grouped disturbance torque and the disturbance torque detected by the torque detector, and a failure diagnostic circuit that performs a failure diagnosis on the multi-axis robot by comparing the corrected disturbance torque with a threshold.
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公开(公告)号：US20180133897A1
公开(公告)日：2018-05-17
申请号：US15575569
申请日：2015-05-20
发明人： Toshiyuki Shimizu
CPC分类号： B25J9/1674 , B25J9/1676 , B25J13/085 , B25J19/06 , G01L5/0076 , G01L5/16 , G05B2219/37214 , G05B2219/37344 , G05B2219/39355 , G05B2219/39412 , G05B2219/41372
摘要： A failure diagnostic device includes a torque detector that detects disturbance torques applied to joint shafts included in a multi-axis robot, a torque grouping circuit that groups the disturbance torques according to a content of an operation executed by the multi-axis robot upon detection of each disturbance torque, a torque correction circuit that obtains a corrected disturbance torque standardized between a plurality of operations with different contents based on a representative value preliminarily set for each grouped disturbance torque and the disturbance torque detected by the torque detector, and a failure diagnostic circuit that performs a failure diagnosis on the multi-axis robot by comparing the corrected disturbance torque with a threshold.
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公开(公告)号：US10543604B2
公开(公告)日：2020-01-28
申请号：US15575605
申请日：2015-05-21
发明人： Toshiyuki Shimizu , Masaki Kuno , Toru Takagi
摘要： A failure diagnostic device for performing a failure diagnosis on a multi-axis robot includes a position detector that detects a movement position of each of joint shafts included in the multi-axis robot, a torque detector that detects a disturbance torque applied to the joint shaft, a routine-operation determination circuit that determines whether or not the multi-axis robot is executing a predefined routine operation, from the movement position detected by the position detector, a reference-value calculation circuit that calculates a disturbance-torque reference value from the disturbance torque detected during execution of the routine operation, a torque correction circuit that corrects the disturbance torque detected while the multi-axis robot executes an operation different from the routine operation by using the disturbance-torque reference value, calculated by the reference-value calculation circuit, to thereby acquire a corrected disturbance torque, and a failure diagnostic circuit that performs a failure diagnosis.
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公开(公告)号：US20180154529A1
公开(公告)日：2018-06-07
申请号：US15575605
申请日：2015-05-21
发明人： Toshiyuki Shimizu , Masaki Kuno , Toru Takagi
摘要： A failure diagnostic device for performing a failure diagnosis on a multi-axis robot includes a position detector that detects a movement position of each of joint shafts included in the multi-axis robot, a torque detector that detects a disturbance torque applied to the joint shaft, a routine-operation determination circuit that determines whether or not the multi-axis robot is executing a predefined routine operation, from the movement position detected by the position detector, a reference-value calculation circuit that calculates a disturbance-torque reference value from the disturbance torque detected during execution of the routine operation, a torque correction circuit that corrects the disturbance torque detected while the multi-axis robot executes an operation different from the routine operation by using the disturbance-torque reference value, calculated by the reference-value calculation circuit, to thereby acquire a corrected disturbance torque, and a failure diagnostic circuit that performs a failure diagnosis.
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