Robot control device, maintenance management method, and maintenance management program

A maintenance management method in which a robot control device executes:

• a step of controlling operation of a robot body, wherein the robot body includes a speed reducer and a motor coupled to the speed reducer, and the operation of the robot body is controlled by a servo driver through the motor driving the speed reducer;
• a step of detecting a signal used for analysis of a feature amount quantitatively indicating a deterioration degree of the robot body that is deteriorated over time as the robot body is operated, wherein the feature amount includes a first feature amount and a second feature amount;
• a step of determining a data section of the detected signal to be a constant speed section that is a data section obtained by a constant speed operation of the robot body when the data section of the detected signal has a period that is equal to or greater than at least one period of a periodic change in the feature amount that is linked to the operation of the robot body;
• a step of determine the data section of the detected signal to be a non-constant speed section that is a data section obtained by a non-constant speed operation of the robot body when the data section of the detected signal has a period that is less than the at least one period of the periodic change in the feature amount that is linked to the operation of the robot body;
• a step of normalizing, when the data section of the detected signal determined to be non-constant speed section, the first feature amount of the non-constant speed section in the data section of the detected signal;
• a step of analysing, when the data section of the detected signal is determined as the constant speed section, the second feature amount quantitatively indicating the deterioration degree of the robot body based on the constant speed section in the data section of the detected signal, and analysing, when the data section of the detected signal is determined as the non-constant speed section, the normalized first feature amount quantitatively indicating the deterioration degree of the robot body based on the non-constant speed section in the data section of the detected signal;
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• a step of estimating a remaining life of the robot body based on the analysed feature amount obtained during the constant speed operation and non-constant speed operation of the robot body.

A non-transitory computer readable recording medium storing a maintenance management program which enables a robot control device to execute:

• a step of controlling operation of a robot body, wherein the robot body includes a speed reducer and a motor coupled to the speed reducer, and the operation of the robot body is controlled by a servo driver through the motor driving the speed reducer;
• a step of detecting a signal used for analysis of a feature amount quantitatively indicating a deterioration degree of the robot body that is deteriorated over time as the robot body is operated, wherein the feature amount includes a first feature amount and a second feature amount;
• a step of determining a data section of the detected signal to be a constant speed section that is a data section obtained by a constant speed operation of the robot body when the data section of the detected signal has a period that is equal to or greater than at least one period of a periodic change in the feature amount that is linked to the operation of the robot body;
• a step of determine the data section of the detected signal to be a non-constant speed section that is a data section obtained by a non-constant speed operation of the robot body when the data section of the detected signal has a period that is less than the at least one period of the periodic change in the feature amount that is linked to the operation of the robot body;
• a step of normalizing, when the data section of the detected signal determined to be non-constant speed section, the first feature amount of the non-constant speed section in the data section of the detected signal;
• a step of analysing, when the data section of the detected signal is determined as the constant speed section, the second feature amount quantitatively indicating the deterioration degree of the robot body based on the constant speed section in the data section of the detected signal, and analysing, when the data section of the detected signal is determined as the non-constant speed section, the normalized first feature amount quantitatively indicating the deterioration degree of the robot body based on the non-constant speed section in the data section of the detected signal;
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• a step of estimating a remaining life of the robot body based on the analysed feature amount obtained during the constant speed operation and non-constant speed operation of the robot body.