公开(公告)号：US06230079B1

公开(公告)日：2001-05-08

申请号：US09077733

申请日：1998-06-09

申请人： Torgny Brogårdh ,  Håkan Dahlquist ,  Staffan Elfving ,  Tord Henriksson

发明人： Torgny Brogårdh ,  Håkan Dahlquist ,  Staffan Elfving ,  Tord Henriksson

IPC分类号： G05B1500

CPC分类号： B25J9/1628 ,  G05B2219/37252 ,  G05B2219/39247

摘要： A method for control of an industrial robot, which has a plurality of movement axes with a position sensor for each of said axes which is adapted to deliver an output signal which defines the current position of the axis, and a control system for control of the axes of the robot. Continuously during operation of the robot for at least one mechanically critical point (i) of the robot, the relevant load (&tgr;i) during a predetermined period of time (&Dgr;t) is calculated on the basis of the output signals (&phgr;1,&phgr;2 . . . &phgr;6) from the position sensors and a mathematical model of the robot. Further, the rate of fatigue ( Δ ⁢   ⁢ D i Δ ⁢   ⁢ t ) of the point is calculated on the basis of the calculated load and with knowledge of the fatigue strength (Nij) of the material at the critical point. The performance (&phgr;axis,max, &tgr;axis,max) of the robot is adjusted in dependence on the rate of fatigue and the desired service life (tlife) of the robot.

摘要翻译： 一种用于控制工业机器人的方法，所述工业机器人具有多个运动轴，所述运动轴具有用于每个所述轴的位置传感器，所述位置传感器适于传送限定所述轴的当前位置的输出信号，以及用于控制所述轴的控制系统 机器人的轴。 在机器人的至少一个机械临界点（i）的操作期间连续地，在预定时间段（DELTAt）期间，基于输出信号（phi1，phi2）计算相关负载（i） ... phi6）和机器人的数学模型。 此外，该点的疲劳速率是根据计算出的载荷和在临界点的材料的疲劳强度（Nij）的知识来计算的。 机器人的性能（phiaxis，max，＆tgr，axis，max）根据机器人的疲劳速率和所需的使用寿命（tlife）进行调整。

公开(公告)号：US08099191B2

公开(公告)日：2012-01-17

申请号：US12330259

申请日：2008-12-08

申请人： Dominique Blanc ,  Mats Myhr ,  Peter J. Eriksson ,  Steve Murphy

发明人： Dominique Blanc ,  Mats Myhr ,  Peter J. Eriksson ,  Steve Murphy

IPC分类号： G06F19/00

CPC分类号： G05B19/416 ,  B25J9/1674 ,  G05B2219/31104 ,  G05B2219/33286 ,  G05B2219/39247 ,  G05B2219/42289 ,  G05B2219/49369

摘要： A robot service system including a robot including least one manipulator and a controller controlling the motion of the manipulator. A remote service center includes an analyzing computer, and a communication line between the robot controller and the remote service center. A monitoring component is configured to monitor the current operation of the controller and the current motions of the manipulator, and to transmit information on the current operation of the controller and the current motions of the manipulator to the remote service center. The analyzing computer is configured, upon request, to calculate new maximum permissible performance parameters for the robot based on the received information and to transmit the new maximum permissible performance parameters to the robot controller. The analyzing computer is further configured to calculate one or more monitoring parameter, and the monitoring component is further configured to supervise that the robot is not run outside allowed limits based on the monitoring parameters.

摘要翻译： 一种机器人服务系统，其包括包括至少一个操纵器的机器人和控制所述操纵器的运动的控制器。 远程服务中心包括分析计算机，机器人控制器和远程服务中心之间的通信线路。 监视部件被配置为监视控制器的当前操作和操纵器的当前运动，并且将关于控制器的当前操作的信息以及操纵器的当前运动发送到远程服务中心。 根据请求，分析计算机被配置为基于接收到的信息计算机器人的新的最大允许性能参数，并将新的最大允许性能参数传送到机器人控制器。 所述分析计算机还被配置为计算一个或多个监视参数，并且所述监视组件还被配置为基于所述监视参数来监视所述机器人不在超出允许的极限的范围内运行。

公开(公告)号：US20180224840A1

公开(公告)日：2018-08-09

申请号：US15747624

申请日：2015-09-24

申请人： Hitachi, Ltd.

发明人： Munetoshi UNUMA ,  Norio TAKEDA

IPC分类号： G05B23/02 ,  G05B19/418 ,  G07C5/02 ,  G07C3/02

CPC分类号： G05B23/02 ,  G05B19/418 ,  G05B23/0283 ,  G05B2219/2619 ,  G05B2219/39247 ,  G07C3/00 ,  G07C3/02 ,  G07C5/02 ,  Y02P90/02

摘要： Provided is an equipment life diagnostic device which assists in estimating operating conditions that are factors in determining the remaining life of equipment. This equipment life diagnostic device is provided with: an actual life consumption calculation unit which calculates the actual life consumption of equipment when the equipment is operating; an assumed life consumption setting unit which sets an assumed life consumption on the basis of the useful life of the equipment; a comparison unit which compares the actual life consumption calculated by the actual life consumption calculation unit with the assumed life consumption set by the assumed life consumption setting unit; and an output unit which, on the basis of the comparison result obtained from the comparison unit, displays information relating to the amount by which the actual life consumption is greater or less than the assumed life consumption.

公开(公告)号：US20090157224A1

公开(公告)日：2009-06-18

申请号：US12330259

申请日：2008-12-08

申请人： Dominique Blanc ,  Mats Myhr ,  Peter J. Eriksson ,  Steve Murphy

发明人： Dominique Blanc ,  Mats Myhr ,  Peter J. Eriksson ,  Steve Murphy

IPC分类号： G06F19/00

CPC分类号： G05B19/416 ,  B25J9/1674 ,  G05B2219/31104 ,  G05B2219/33286 ,  G05B2219/39247 ,  G05B2219/42289 ,  G05B2219/49369

摘要： A robot service system including a robot including least one manipulator and a controller controlling the motion of the manipulator. A remote service center includes an analyzing computer, and a communication line between the robot controller and the remote service center. A monitoring component is configured to monitor the current operation of the controller and the current motions of the manipulator, and to transmit information on the current operation of the controller and the current motions of the manipulator to the remote service center. The analyzing computer is configured, upon request, to calculate new maximum permissible performance parameters for the robot based on the received information and to transmit the new maximum permissible performance parameters to the robot controller. The analyzing computer is further configured to calculate one or more monitoring parameter, and the monitoring component is further configured to supervise that the robot is not run outside allowed limits based on the monitoring parameters.

摘要翻译： 一种机器人服务系统，其包括包括至少一个操纵器的机器人和控制所述操纵器的运动的控制器。 远程服务中心包括分析计算机，机器人控制器和远程服务中心之间的通信线路。 监视部件被配置为监视控制器的当前操作和操纵器的当前运动，并且将关于控制器的当前操作的信息以及操纵器的当前运动发送到远程服务中心。 根据请求，分析计算机被配置为基于接收到的信息计算机器人的新的最大允许性能参数，并将新的最大允许性能参数传送到机器人控制器。 所述分析计算机还被配置为计算一个或多个监视参数，并且所述监视组件还被配置为基于所述监视参数来监视所述机器人不在超出允许的极限的范围内运行。