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MX2017014937A - Dispositivo de diagnostico de fallas y metodo de diagnostico de fallas. - Google Patents

Dispositivo de diagnostico de fallas y metodo de diagnostico de fallas.

Info

Publication number
MX2017014937A
MX2017014937A MX2017014937A MX2017014937A MX2017014937A MX 2017014937 A MX2017014937 A MX 2017014937A MX 2017014937 A MX2017014937 A MX 2017014937A MX 2017014937 A MX2017014937 A MX 2017014937A MX 2017014937 A MX2017014937 A MX 2017014937A
Authority
MX
Mexico
Prior art keywords
failure diagnosis
failure
operating shaft
disturbance torque
threshold value
Prior art date
Application number
MX2017014937A
Other languages
English (en)
Other versions
MX365231B (es
Inventor
Kuno Masaki
Original Assignee
Nissan Motor
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nissan Motor filed Critical Nissan Motor
Publication of MX2017014937A publication Critical patent/MX2017014937A/es
Publication of MX365231B publication Critical patent/MX365231B/es

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0095—Means or methods for testing manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0061—Force sensors associated with industrial machines or actuators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34013—Servocontroller
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37624—Detect collision, blocking by measuring change of velocity or torque
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39355—Observer, disturbance observer

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Manipulator (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • Control Of Electric Motors In General (AREA)
  • Numerical Control (AREA)

Abstract

Un dispositivo de diagnóstico de fallas de esta invención es aplicable a un dispositivo mecánico provisto con un motor como una fuente para accionar un eje de movimiento. El dispositivo de diagnóstico de fallas adquiere una posición de movimiento del eje de movimiento y un valor del momento de torsión de perturbación aplicado al eje de movimiento cada periodo predeterminado, y diagnostica que está ocurriendo una falla cuando el valor del momento de torsión de perturbación adquirido es mayor que un umbral de determinación de fallas. Posteriormente, el dispositivo de diagnóstico de fallas calcula un cambio en el valor del momento de torsión de perturbación antes y después de la realización de una tarea de mantenimiento cuando la tarea de mantenimiento se lleva a cabo en el eje de movimiento, y restablece el umbral de determinación de fallas sólo cuando el cambio en el valor del momento de torsión de perturbación es mayor que un umbral predeterminado.
MX2017014937A 2015-05-25 2015-05-25 Dispositivo de diagnóstico de fallas y método de diagnóstico de fallas. MX365231B (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/064849 WO2016189608A1 (ja) 2015-05-25 2015-05-25 故障診断装置及び故障診断方法

Publications (2)

Publication Number Publication Date
MX2017014937A true MX2017014937A (es) 2018-04-13
MX365231B MX365231B (es) 2019-05-27

Family

ID=57392982

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2017014937A MX365231B (es) 2015-05-25 2015-05-25 Dispositivo de diagnóstico de fallas y método de diagnóstico de fallas.

Country Status (11)

Country Link
US (1) US10112305B2 (es)
EP (1) EP3305482B1 (es)
JP (1) JP6428933B2 (es)
KR (1) KR101889248B1 (es)
CN (1) CN107614216B (es)
BR (1) BR112017025292B1 (es)
CA (1) CA2986736C (es)
ES (1) ES2763004T3 (es)
MX (1) MX365231B (es)
RU (1) RU2678857C1 (es)
WO (1) WO2016189608A1 (es)

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JP6496338B2 (ja) 2017-03-14 2019-04-03 ファナック株式会社 工作機械の制御システム
JP6474450B2 (ja) 2017-04-17 2019-02-27 ファナック株式会社 工作機械の制御システム
JP6514264B2 (ja) * 2017-04-20 2019-05-15 ファナック株式会社 工作機械の制御システム
EP3733361B1 (en) * 2017-12-26 2023-08-23 Nissan Motor Co., Ltd. Malfunction determination method and malfunction determination device
CN108152740A (zh) * 2018-01-02 2018-06-12 重庆长安汽车股份有限公司 驱动电机系统故障诊断的方法、装置及设备及电动汽车
WO2019211892A1 (ja) * 2018-05-01 2019-11-07 日産自動車株式会社 異常判定装置、異常判定システム及び異常判定方法
EP3804923A4 (en) * 2018-06-04 2021-07-14 Nissan Motor Co., Ltd. DEVICE FOR DETERMINING ANOMALY AND METHOD FOR DETERMINING ANOMALY
KR102054771B1 (ko) * 2018-06-15 2019-12-11 두림야스카와(주) 로봇의 토크 부하율을 이용한 고장 예측방법
JP7056418B2 (ja) * 2018-07-05 2022-04-19 日産自動車株式会社 異常判定装置及び異常判定方法
JP7079420B2 (ja) * 2018-08-06 2022-06-02 日産自動車株式会社 異常診断装置及び異常診断方法
JP7116930B2 (ja) * 2019-01-31 2022-08-12 株式会社安川電機 モータ制御システム、エンコーダ、サーボモータ
JP7343323B2 (ja) * 2019-07-25 2023-09-12 ファナック株式会社 故障予測システム
DE112021003252T5 (de) * 2020-06-16 2023-04-06 Fanuc Corporation Roboter-Steuervorrichtung
CN112834225A (zh) * 2021-01-05 2021-05-25 吉孚动力技术(中国)有限公司 一种混合动力系统驱动电机扭矩故障的测试及响应方法
WO2023007634A1 (ja) * 2021-07-28 2023-02-02 ファナック株式会社 ロボットシステム
CN114237199B (zh) * 2021-11-29 2023-10-24 中国航发沈阳发动机研究所 基于自适应比较器的航空发动机执行回路故障检测方法
CN115674272B (zh) * 2022-11-03 2026-01-06 中国科学技术大学先进技术研究院 机器人故障诊断方法、装置、设备以及存储介质
CN119439970B (zh) * 2025-01-08 2025-07-11 浙江国利信安科技有限公司 用于工控系统故障诊断的方法、计算设备和存储介质

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Also Published As

Publication number Publication date
ES2763004T3 (es) 2020-05-26
CA2986736C (en) 2018-12-04
CN107614216A (zh) 2018-01-19
BR112017025292B1 (pt) 2021-02-02
RU2678857C1 (ru) 2019-02-04
EP3305482A4 (en) 2018-08-29
CN107614216B (zh) 2018-09-18
JP6428933B2 (ja) 2018-11-28
KR101889248B1 (ko) 2018-08-16
MX365231B (es) 2019-05-27
BR112017025292A2 (pt) 2018-08-07
US10112305B2 (en) 2018-10-30
KR20170139608A (ko) 2017-12-19
JPWO2016189608A1 (ja) 2018-03-08
EP3305482A1 (en) 2018-04-11
US20180133901A1 (en) 2018-05-17
EP3305482B1 (en) 2019-10-09
CA2986736A1 (en) 2016-12-01
WO2016189608A1 (ja) 2016-12-01

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