Title:
故障診断装置及び故障診断方法
Document Type and Number:
Japanese Patent JP6409965
Kind Code:
B2
Abstract:
A failure diagnostic device detects the movement position of each of joint shafts included in a multi-axis robot (S03), and detects a disturbance torque (Tq) applied to the joint shaft (S01). The failure diagnostic device determines whether or not the multi-axis robot is executing a predefined routine operation, from the detected movement position, and calculates disturbance-torque reference values from the disturbance torque detected during execution of the predefined routine operation (S07). The failure diagnostic device corrects the disturbance torque by using the disturbance-torque reference values (S09), and performs a failure diagnosis on the multi-axis robot (1) by comparing the corrected disturbance torque (Tq') and a threshold (α) (S11 to S15).
Inventors:
Toshiyuki Shimizu
Masaki Kuno
Toru Takagi
Masaki Kuno
Toru Takagi
Application Number:
JP2017518694A
Publication Date:
October 24, 2018
Filing Date:
May 21, 2015
Export Citation:
Assignee:
Nissan Motor Co., Ltd
International Classes:
B25J19/06; G05B19/18
Domestic Patent References:
| JP6170540A | ||||
| JP9174482A | ||||
| JP2014155985A | ||||
| JP2014117787A | ||||
| JP2010271185A | ||||
| JP2013184249A | ||||
| JP751997A | ||||
| JP200380529A |
Attorney, Agent or Firm:
Hidekazu Miyoshi
Shunichi Takahashi
Masakazu Ito
Toshio Takamatsu
Shunichi Takahashi
Masakazu Ito
Toshio Takamatsu