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.
Claims8
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 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.
(canceled)
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 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;
- and
- performing a failure diagnosis on the multi-axis robot by comparing the corrected disturbance torque with a threshold.
Dependencies are inferred from the claim text.