JPH0537490U - Controller for industrial robots - Google Patents
Controller for industrial robotsInfo
- Publication number
- JPH0537490U JPH0537490U JP9358891U JP9358891U JPH0537490U JP H0537490 U JPH0537490 U JP H0537490U JP 9358891 U JP9358891 U JP 9358891U JP 9358891 U JP9358891 U JP 9358891U JP H0537490 U JPH0537490 U JP H0537490U
- Authority
- JP
- Japan
- Prior art keywords
- robot
- value
- component
- control device
- life
- Prior art date
- Legal status (The legal status 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 status listed.)
- Withdrawn
Links
Abstract
(57)【要約】
【目的】 産業用ロボットの使用状況にあわせて機械系
構成部品の寿命を計算し、寿命による故障が発生する前
にオペレータに対し警告を発する機能を持たせ、ロボッ
トの適切なオーバーホールの時期を提示することができ
る産業用ロボットの制御装置を提供。
【構成】 ロボットの制御装置内部にロボット動作中の
構成部品に加わる力とその回転数の一定周期毎の値を取
り込み、制御装置内部の計算部で機械系構成部品の各周
期毎の消耗度を計算し、その累積値から各部品毎の寿命
判別を行い、ロボットが故障する前にロボットの保守・
管理者に対し警告を発するようにした。
(57) [Summary] [Purpose] The function of calculating the service life of mechanical system components according to the usage status of the industrial robot and issuing a warning to the operator before a failure due to the service life is provided to ensure proper robot operation. We provide a control device for industrial robots that can indicate the time of major overhaul. [Structure] The force applied to a component during robot operation and the value of its rotational frequency for each fixed cycle are loaded into the robot controller, and the degree of wear of the mechanical component for each cycle is calculated by the calculation unit inside the controller. Calculate and determine the life of each part from the cumulative value, and maintain the robot before the robot breaks down.
Added a warning to the administrator.
Description
【０００１】[0001]
本考案は、産業用ロボットの使用状況にあわせて機械系構成部品の消費寿命を 計算し、寿命による故障が発生する前にオペレータに対し警告を発する機能を持 つ産業用ロボットの制御装置に関する。 The present invention relates to a controller for an industrial robot having a function of calculating the consumption life of mechanical system components according to the usage status of the industrial robot and issuing a warning to an operator before a failure due to the life occurs.
【０００２】[0002]
従来、産業用ロボットの駆動系構成部品の平均的な使用状況を仮定して、設計 時に各部品の寿命を計算によって求め、オーバーホールの周期を保守要領として 示し、顧客の自主的な管理による保全を実施していた。また段取り替えによって 動作が変わり負荷が変化する場合、軸受けを例にすると図３のように各段取りご との総回転数と平均荷重から、式１、式２のように寿命を計算していた。 Conventionally, assuming the average usage of drive train components of industrial robots, the life of each component was calculated at the time of designing, and the overhaul period was shown as a maintenance procedure to ensure maintenance by customer's voluntary management. It was carried out. If the operation changes and the load changes due to the setup change, using bearings as an example, the service life was calculated from Equation 1 and Equation 2 from the total number of revolutions and average load of each setup as shown in Fig. 3. .
【０００３】[0003]
【数１】 [Equation 1]
【数２】 [Equation 2]
【０００４】[0004]
【考案が解決しようとする課題】 上述した産業用ロボットの使用状態を設計時に想定して、各駆動系構成部品の 寿命を計算しオーバーホールの周期を提示するやり方では、使用状態が過酷であ ればオーバーホール前に故障する確率が高く、また反対に軽負荷の場合十分使え る部品を交換することになり不経済である。さらに、段取り変更によって頻繁に 動作内容が変化する場合は適切な寿命計算を行う事は困難であった。[Problems to be Solved by the Invention] In the method of calculating the service life of each drive train component and presenting the overhaul period, assuming the usage state of the industrial robot described above at the time of design, the usage state is severe. For example, there is a high probability of failure before overhaul, and conversely, when the load is light, it is uneconomical to replace parts that are fully usable. Furthermore, when the operation contents frequently change due to the change of setup, it is difficult to calculate the appropriate life.
【０００５】 例えば工作機械である専用機の場合には、１サイクルの作業内容がほぼ一定で あるので、１サイクルの負荷から寿命繰り返し回数として計算することが可能で ある。しかしロボットの場合、複数の再生プログラムで使用され、またジャンプ 命令、条件待などの機能があり、負荷がフレキシブルに変化するので、式１、２ により寿命を予測することは困難であった。従って、従来の方法では使用状況に 合わせた適切なオーバーホールの時期を提示する事は困難であった。For example, in the case of a dedicated machine, which is a machine tool, the work content of one cycle is almost constant, and therefore, it is possible to calculate the number of repeated cycles from the load of one cycle. However, in the case of a robot, since it is used in multiple playback programs and has functions such as jump commands and wait conditions, and the load changes flexibly, it was difficult to predict the life using Equations 1 and 2. Therefore, it is difficult for the conventional method to provide an appropriate overhaul time according to the usage situation.
【０００６】 本考案の課題は、かかる従来技術の課題を解決した、産業用ロボットの使用状 況にあわせて機械系構成部品の消耗度を一定周期毎に計算し、寿命による故障が 発生する前にオペレータに対し警告を発する機能を持たせ、ロボットの適切なオ ーバーホールの時期を提示することができる産業用ロボットの制御装置を提供す ることにある。The object of the present invention is to solve the problems of the prior art by calculating the wear level of mechanical system components at regular intervals according to the usage situation of an industrial robot, and before the occurrence of a failure due to the life. Another object of the present invention is to provide a control device for an industrial robot that has a function of issuing a warning to an operator and can present an appropriate time of the robot overhaul.
【０００７】[0007]
このため本考案では、産業用ロボットの制御装置内部にロボット動作中の構成 部品に加わる力とその回転数の一定周期毎の値を取り込み、前記制御装置内部の 計算部で各前記構成部品の消耗度を一定周期毎に計算し、その累積値から各部品 毎の寿命判別を行い、前記ロボットが故障する前にロボットの保守・管理者に対 し警告を発するようにして、予防保全を可能としたことを特徴とする産業用ロボ ットの制御装置を提供することにより、上述した従来技術の課題を解決した。 For this reason, in the present invention, the force applied to the components during robot operation and the value of the number of rotations of the components are taken into the control unit of the industrial robot at regular intervals, and the calculation unit inside the control unit consumes each component. Degree is calculated at regular intervals, the life of each part is determined from the cumulative value, and warning is given to the robot maintenance / management before the robot fails, enabling preventive maintenance. By providing a control device for an industrial robot characterized by the above, the above-mentioned problems of the prior art are solved.
【０００８】 好ましくは、ロボットの構成部品に加わる力と回転数の一定周期毎の値を取り 込むために、前記制御装置内部に前記ロボットの各軸の電動モータに流れる電流 値と回転数値を検出する機能を持つことにより、前記制御装置内部の計算部で各 周期毎の消費寿命を容易に計算できる。更にロボットの構成部品に加わる力の一 定周期毎の値を取り込むために前記ロボット本体に加速度計を設置し、ロボット に加わる加速度を検出する機能を持つことにより、前記制御装置内部の計算部で 各周期毎の各前記構成部品の消耗度を更に容易に計算できる。Preferably, in order to capture the force applied to the components of the robot and the value of the rotation speed for each constant period, the current value and the rotation value flowing in the electric motor of each axis of the robot are detected inside the control device. With this function, the consumption section for each cycle can be easily calculated by the calculation unit inside the control device. Furthermore, an accelerometer is installed in the robot body to capture the value of the force applied to the components of the robot in each fixed cycle, and the function to detect the acceleration applied to the robot allows the calculation unit inside the controller to operate. It is possible to more easily calculate the degree of wear of each component for each cycle.
【０００９】[0009]
図１は本考案の具体的実施例を機能のフローチャートとして示し、図２はに本 考案の具体的実施例産業用ロボットの制御装置の周辺機器を含めた構成をブロッ ク図で示す。図２において、記憶部３には、各部品毎の寿命計算に必要な定数と 、ロボットの累積稼動時間が記憶されている。Ａ／Ｄ変換部１では、一定周期毎 にサンプリングされた産業用ロボットの各軸の電流波形と速度波形の値を取り込 み、計算部２では、サンプリング時間毎に、記憶部３から取り出した各部品毎の 寿命計算に必要な定数及びロボットの累積稼動時間から、各構成部品の消費寿命 を計算し、その累積により実際のロボットの寿命を判定するようにされている。 FIG. 1 shows a specific embodiment of the present invention as a functional flowchart, and FIG. 2 shows a block diagram of a configuration including peripheral devices of a control device of an industrial robot of the specific embodiment of the present invention. In FIG. 2, the storage unit 3 stores constants required for life calculation of each part and cumulative operating time of the robot. The A / D conversion unit 1 takes in the values of the current waveform and the velocity waveform of each axis of the industrial robot sampled at regular intervals, and the calculation unit 2 takes them out from the storage unit 3 at every sampling time. From the constants required to calculate the life of each part and the cumulative operating time of the robot, the consumption life of each component is calculated, and the cumulative life is used to determine the actual life of the robot.
【００１０】 一定周期でサンプリングした電流値Ｉi (A) と平均回転数（rps ）Ｎi から、 平均荷重サンプル値Ｆi を、 Ｆi ＝Ｋt ・Ｉi ．．．式３ Ｋt ：トルク定数kgf/A とすることにより、平均荷重Ｆは、式１から、[0010] From a fixed period the current value is sampled by I i (A) and the average rotational speed (rps) N i, the average load sample value F i, F i = K t · I i. ． ． Formula 3 K t : By setting the torque constant kgf / A, the average load F is
【００１１】[0011]
【数３】 と式４で与えられる。駆動系の構成部品の推定寿命Ｌは、式２と式４より、[Equation 3] And given by Equation 4. The estimated service life L of the components of the drive system is
【数４】 と式５で求めることができる。[Equation 4] And can be obtained by the equation 5.
【００１２】 累積回転数Ｌn は、The cumulative rotation number L n is
【数５】 と式６で求めることができるので、消耗度をＤとして、 Ｄ＝Ｌn ／Ｌ ．．．式７ と表すことができ、 Ｄ≧１ となった場合に、その駆動系の構成部品は寿命が きたと判断して交換指示をロボットのモニタ等に警告として出力する。[Equation 5] And the wear degree is D, D = L n / L. ． ． Expression 7 can be expressed. When D ≧ 1, it is determined that the drive system components have reached the end of their life, and a replacement instruction is output as a warning to the robot monitor or the like.
【００１３】 式５、式６、式７から、消耗度Ｄは、From Equation 5, Equation 6, and Equation 7, the wear level D is
【数６】 と式８で与えられる。Ｉi p ・ Ｎi を消耗度Ｄの増分と考え、この累積値を管 理することによって、寿命を判定する。[Equation 6] And given by equation 8. I i p Consider the N i and increment the consumption degree D, by the accumulated value to manage, determine the service life.
【００１４】[0014]
本考案によれば、産業用ロボットの制御装置内部にロボット動作中の構成部品 に加わる力とその回転数の一定周期毎の値を取り込み、前記制御装置内部の計算 部で各前記構成部品の消耗度を一定周期毎に計算し、その累積値から各部品毎の 寿命判別を行い、前記ロボットが故障する前にロボットの保守・管理者に対し警 告を発するようにしたので、リアルタイムで各駆動系構成部品の消費寿命を累積 して寿命判定を行うので、使用状況の変化により負荷が変化しても任意時点での 寿命を判定することが可能となり、適切な保守情報を制御装置からロボットの保 守・管理者に対し提供することができるので、産業用ロボットを用いた製造現場 での予防保全が可能となる。 According to the present invention, the force applied to a component during operation of the robot and the value of the rotation speed thereof at a constant cycle are fetched into the controller of the industrial robot, and the calculation unit inside the controller consumes each component. Frequency is calculated at regular intervals, the life of each component is determined from the cumulative value, and a warning is issued to the robot maintenance / management before the robot fails, so each drive is performed in real time. Since life is judged by accumulating the consumed life of system components, it is possible to judge the life at any time even if the load changes due to changes in usage conditions, and appropriate maintenance information can be sent from the controller to the robot. Since it can be provided to the maintenance / manager, preventive maintenance at the manufacturing site using industrial robots becomes possible.
【図１】本考案の具体的実施例を機能のフローチャート
として示した図。FIG. 1 is a diagram showing a specific embodiment of the present invention as a functional flowchart.
【図２】本考案の具体的実施例産業用ロボットの制御装
置の周辺機器を含めた構成を示すブロック図。FIG. 2 is a block diagram showing a configuration including peripheral devices of a control device for an industrial robot according to a specific embodiment of the present invention.
【図３】従来の軸受の各段取りごとの総回転数と平均荷
重を示すタイムチャート。FIG. 3 is a time chart showing a total number of rotations and an average load for each setup of a conventional bearing.
１．．Ａ／Ｄ変換部 ２．．計算部 ３．．記憶部 1. ． A / D converter 2. ． Calculation part 3. ． Memory
───────────────────────────────────────────────────── フロントページの続き (72)考案者 針木 和夫 富山県富山市石金20番地 株式会社不二越 内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kazuo Hariki 20 Ishigane, Toyama City, Toyama Prefecture Fujikoshi Co., Ltd.
Claims (3)
ト動作中の構成部品に加わる力とその回転数の一定周期
毎の値を取り込み、前記制御装置内部の計算部で各前記
構成部品の消耗度を一定周期毎に計算し、その累積値か
ら各前記構成部品毎の消費寿命判別を行い、前記ロボッ
トが故障する前にロボットの保守・管理者に対し警告を
発するようにして、予防保全を可能としたことを特徴と
する産業用ロボットの制御装置。1. A control unit for an industrial robot takes in a force applied to a component during robot operation and a value of its rotational frequency at regular intervals, and a calculation unit inside the control unit consumes each component. Is calculated at regular intervals, the consumption life of each component is determined from the cumulative value, and warning is given to the robot maintenance / administrator before the robot fails, enabling preventive maintenance. The control device for the industrial robot characterized by the above.
転数の一定周期毎の値を取り込むために、前記制御装置
内部に前記ロボットの各軸の電動モータに流れる電流値
と回転数値を検出する機能を持つことを特徴とする請求
項１記載の産業用ロボットの制御装置。2. A current value and a rotational speed value flowing in an electric motor of each axis of the robot are detected inside the control device in order to capture a force applied to a component of the robot and a value of the rotational speed at constant intervals. The industrial robot controller according to claim 1, which has a function.
定周期毎の値を取り込むために前記ロボット本体に加速
度計を設置し、ロボットに加わる加速度を検出する機能
を持つことを特徴とする請求項１記載の産業用ロボット
の制御装置。3. An accelerometer is installed in the robot body to capture the value of the force applied to the constituent parts of the robot at constant intervals, and has a function of detecting the acceleration applied to the robot. 1. The control device for the industrial robot according to 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9358891U JPH0537490U (en) | 1991-10-21 | 1991-10-21 | Controller for industrial robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9358891U JPH0537490U (en) | 1991-10-21 | 1991-10-21 | Controller for industrial robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0537490U true JPH0537490U (en) | 1993-05-21 |
Family
ID=14086454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9358891U Withdrawn JPH0537490U (en) | 1991-10-21 | 1991-10-21 | Controller for industrial robots |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0537490U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015027723A (en) * | 2013-06-27 | 2015-02-12 | ファナック株式会社 | Portable type operation panel with vibration motor |
| JP2017188038A (en) * | 2016-04-08 | 2017-10-12 | ファナック株式会社 | Manufacturing control system for improving operation rate of manufacturing cell |
| JP2020192657A (en) * | 2019-05-30 | 2020-12-03 | セイコーエプソン株式会社 | Robot management system and control method for robot management system |
| JP2022501723A (en) * | 2018-09-21 | 2022-01-06 | キストラー ホールディング アクチエンゲゼルシャフト | A method for analyzing the condition of an electromechanical joining system and an electromechanical joining system for carrying out the method. |
| WO2023025008A1 (en) * | 2021-08-26 | 2023-03-02 | 上海微创医疗机器人（集团）股份有限公司 | Information processing method and system for surgical instrument, surgical instrument and storage medium |
-
1991
- 1991-10-21 JP JP9358891U patent/JPH0537490U/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015027723A (en) * | 2013-06-27 | 2015-02-12 | ファナック株式会社 | Portable type operation panel with vibration motor |
| JP2017188038A (en) * | 2016-04-08 | 2017-10-12 | ファナック株式会社 | Manufacturing control system for improving operation rate of manufacturing cell |
| US10268187B2 (en) | 2016-04-08 | 2019-04-23 | Fanuc Corporation | Manufacturing cell machine management system based on component degree of consumption |
| JP2022501723A (en) * | 2018-09-21 | 2022-01-06 | キストラー ホールディング アクチエンゲゼルシャフト | A method for analyzing the condition of an electromechanical joining system and an electromechanical joining system for carrying out the method. |
| JP2020192657A (en) * | 2019-05-30 | 2020-12-03 | セイコーエプソン株式会社 | Robot management system and control method for robot management system |
| WO2023025008A1 (en) * | 2021-08-26 | 2023-03-02 | 上海微创医疗机器人（集团）股份有限公司 | Information processing method and system for surgical instrument, surgical instrument and storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Withdrawal of application because of no request for examination |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 19960208 |