US 11,850,739 B2
Robot control device, maintenance management method, and maintenance management program
Teruyuki Shiraki, Kyotanabe (JP); Maki Endo, Kyoto (JP); and Yasumoto Mori, Kyoto (JP)
Assigned to OMRON Corporation, Kyoto (JP)
Appl. No. 17/046,801
Filed by OMRON Corporation, Kyoto (JP)
PCT Filed Feb. 22, 2019, PCT No. PCT/JP2019/006683
§ 371(c)(1), (2) Date Oct. 12, 2020,
PCT Pub. No. WO2019/215993, PCT Pub. Date Nov. 14, 2019.
Claims priority of application No. 2018-089962 (JP), filed on May 8, 2018.
Prior Publication US 2021/0078187 A1, Mar. 18, 2021
Int. Cl. G05B 19/4065 (2006.01); B25J 19/00 (2006.01); B25J 9/16 (2006.01)
CPC B25J 19/0066 (2013.01) [B25J 9/1674 (2013.01); G05B 19/4065 (2013.01); G05B 2219/39413 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A robot control device, comprising:
a servo driver that controls operation of a robot body, wherein the robot body includes a speed reducer and a motor coupled to the speed reducer, and the servo driver controls the operation of the robot body through the motor driving the speed reducer;
a sensor coupled to the speed reducer and configured to detect a signal used for analysis of a feature amount quantitatively indicating a deterioration degree of the robot body that is deteriorated over time as the robot body is operated, wherein the feature amount includes a first feature amount and a second feature amount; and
a processor configured to:
determine a data section of the detected signal to be a constant speed section that is a data section obtained by a constant speed operation of the robot body when the data section of the detected signal has a period that is equal to or greater than at least one period of a periodic change in the feature amount that is linked to the operation of the robot body, and determine the data section of the detected signal to be a non-constant speed section that is a data section obtained by a non-constant speed operation of the robot body when the data section of the detected signal has a period that is less than the at least one period of the periodic change in the feature amount that is linked to the operation of the robot body;
normalize, when the data section of the detected signal determined to be non-constant speed section, the first feature amount of the non-constant speed section in the data section of the detected signal;
analyse, when the data section of the detected signal is determined as the constant speed section, the second feature amount quantitatively indicating the deterioration degree of the robot body based on the constant speed section in the data section of the detected signal, and analyse, when the data section of the detected signal is determined as the non-constant speed section, the normalized first feature amount quantitatively indicating the deterioration degree of the robot body based on the non-constant speed section in the data section of the detected signal; and
estimate a remaining life of the robot body based on the analysed feature amount obtained during the constant speed operation and non-constant speed operation of the robot body.