LIFE ESTIMATING METHOD AND LIFE ESTIMATING DEVICE FOR INDUSTRIAL ROBOT

Japanese Patent JP3217254

B2

PROBLEM TO BE SOLVED: To provide a life estimating method and a life estimating device, by which a life can be precisely estimated with ease in a short, time, for an industrial robot.
SOLUTION: Positional coordinate data for a welding tool, posture data for an arm, and weight data for the tool and for the arm are inputted from a data inputting unit 20, and on the basis of these data, angle functions of respective gears and angular acceleration functions of the respective gears and the like are computed by means of an angle computing unit 22, and then, the number of engagement of the tooth flanks in the gears per one cycle is computed by means of an engagement number computing unit 24. In a load computing unit 26, a load torque function and a load inertia moment function, each of which uses a cycle time as a parameter, are computed on the basis of the respective data inputted from the data inputting unit 20, and from these functions and the angular acceleration function, a fluctuation in a load of a gear per one cycle is fund. Then, a maximum load is computed by means of a maximum load computing unit 28 on the basis of the number of engagement and the fluctuation in a load, and an estimated backlash quantity in the arm point part is computed via a gear abrasion quantity computing unit 30 and a backlash quantity computing unit 32, and as a result, a life is estimated.

WO/1991/008870	EMERGENCY-STOP CIRCUIT OF ROBOT
JPH0355186	CONTROL METHOD FOR ROBOT
JP7394797	Robot arm collision detection

Hirohisa Sakai
Naonori Nakamura

JP29646995A

October 09, 2001

November 15, 1995

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TOYOTA JIDOSHA KABUSHIKI KAISHA
BP Corporation

B25J19/06; G05B19/18; (IPC1-7): B25J19/06; G05B19/18

JP7100782A

Kenji Yoshida (2 outside)

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