Failure diagnostic device and failure diagnostic method
AssigneeNissan Motor Co., Ltd.
InventorToshiyuki Shimizu
Life of this patent
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Abstract
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.
Claims11
A failure diagnostic device comprising:
- 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, for each group of disturbance torques, a corrected disturbance torque by standardizing the disturbance torques detected by the torque detector based on a representative value calculated from the disturbance torques detected during the operation executed by the multi-axis robot for each grouped disturbance torque;
- and
- a failure diagnostic circuit that performs a failure diagnosis on the multi-axis robot by comparing each of the corrected disturbance torques obtained for a plurality of operations with different contents with a common threshold regardless of the contents of the operations.
A failure diagnostic method comprising:
- detecting disturbance torques applied to joint shafts included in a multi-axis robot;
- grouping the disturbance torques according to a content of an operation executed by the multi-axis robot upon detection of each disturbance torque;
- obtaining, for each group of disturbance torques, a corrected disturbance torque by standardizing the disturbance torques based on a representative value calculated by the disturbance torques detected during the operation executed from the multi-axis robot for each grouped disturbance torque;
- and
- performing a failure diagnosis on the multi-axis robot by comparing each of the corrected disturbance torques obtained for a plurality of operations with different contents with a common threshold regardless of the contents of the operations.
A failure diagnostic device comprising:
- 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 plurality of corrected disturbance torques standardized between a plurality of operations with different contents based on a representative value and an amount of change preliminarily set for each grouped disturbance torque and the disturbance torque detected by the torque detector for each of the grouped disturbance torques;
- and
- a failure diagnostic circuit that performs a failure diagnosis on the multi-axis robot by comparing each of the corrected disturbance torques with a common threshold,
- wherein the torque correction circuit standardizes each disturbance torque based on the representative value and the amount of change preliminarily set for each grouped disturbance torque.
Dependencies are inferred from the claim text.