FAILURE DIAGNOSTIC DEVICE AND FAILURE DIAGNOSTIC METHOD

Title:

FAILURE DIAGNOSTIC DEVICE AND FAILURE DIAGNOSTIC METHOD

Document Type and Number:

WIPO Patent Application WO/2016/185593

Kind Code:

A1

Abstract:

This failure diagnostic device detects (S03) the moving position of a joint axis of a multi-axis robot and detects (S01) the disturbance torque (Tq) acting on the joint axis. The failure diagnostic device determines from the moving position of the joint axis whether or not a predetermined routine task is being carried out, and calculates (S07) a disturbance torque reference value from the disturbance torque detected at the time of carrying out the predetermined routine task. Using the disturbance torque reference value, the failure diagnostic device corrects (S09) the disturbance torque and carries out (S11-S15) a failure diagnostic of the multi-axis robot (1) by comparing the corrected disturbance torque (Tq') and the threshold value (α).

Inventors:

SHIMIZU TOSHIYUKI (JP)
KUNO MASAKI (JP)
TAKAGI TORU (JP)

Application Number:

PCT/JP2015/064552

Publication Date:

November 24, 2016

Filing Date:

May 21, 2015

Export Citation:

Click for automatic bibliography generation Help

Assignee:

NISSAN MOTOR (JP)

International Classes:

B25J19/06

Foreign References:

JPH06170540A	1994-06-21
JPH09174482A	1997-07-08
JP2014155985A	2014-08-28
JP2014117787A	2014-06-30
JP2010271185A	2010-12-02
JP2013184249A	2013-09-19

Other References: