PURPOSE: To provide a method and a device for estimating the life of an industrial robot which can estimate the life in an industrial line in operation at a low system cost.
CONSTITUTION: An integration value calculating means consisting of an electric current detection part 51, integrator 52, and a gear revolution detection part 54 detects the variation through the lapse of time of the electric current value of a gear motor, and the integration value of the motor electric current within the time of the turn of one tooth flank of the gear is calculated successively, and a load quantity calculation part 53 selects the max. load quantity F from among the calculated integration values. A gear abrasion quantity calculating part 55 calculaties the gear abrasion quantity W according to the equation: W=A×10-10×F×m×n-B (A and B are constants) where F is the load quantity, (m) is the number of times of meshing of a prescribed gear during one cycle operation, and (n) is the cycle times within a prescribed time. A chattering quantity calculating part 56 adds the gear abrasion quantity of each gear to the matrix, and the chattering quantity at the top end of an arm is calculated by carrying out the order conversion. A life estimation part 57 compares the calculated chattering quantity and the allowable chattering quantity, and the life estimation of an industrial robot is carried out on the basis of the magnitude of the difference.
NARITA HIDEO
YASUMATSU SATOSHI
NAKAMURA HISANORI
