Omron Corporation

Teruyuki Shiraki

Maki Endo

Yasumoto Mori

A robot control device, abnormality diagnosis method, and non-transitory computer readable medium are provided. The robot control device () performs abnormality diagnosis of a robot body () including a motor () that rotates, from a starting angle position to a target angle position, a rotational shaft () for transmitting power to an arm () so that the arm performs a predetermined operation. The robot control device includes: a drive control unit () driving the motor so that the rotational shaft rotates from the starting angle position to the target angle position within a rotational speed range of the rotational shaft in which it is possible to detect a vibration component caused by an abnormality from among the vibration components generated along with the rotation of the rotational shaft; a vibration detection unit () detecting the vibration component; and a diagnosis unit performing abnormality diagnosis based on the detected vibration component.

Robot control device, abnormality diagnosis method, and non-transitory computer readable medium

A deterioration degree of a robot body is precisely evaluated. A robot control deviceincludes: a drive control unitcontrolling operation of a robot body; a detection unitdetecting a signal used for analysis of a feature amount quantitatively indicating a deterioration degree of the robot bodydeteriorated over time as the robot bodyis operated; a determination unitdetermining whether a data section of the signal includes a constant speed section equal to or greater than a given section; a normalization unitnormalizing a signal in a non-constant speed section when the data section of the signal does not include the constant speed section equal to or greater than the given section; an analysis unitanalyzing the feature amount; and an estimation unitestimating a remaining life of the robot bodybased on the feature amount.

Robot control device, maintenance management method, and maintenance management program

A remaining life of a robot body is precisely estimated. A robot control apparatusincludes: a drive control unitthat controls drive of a robot body; a detection unitthat detects a feature amount quantitatively indicating a deterioration degree of the robot bodythat is deteriorated over time as the robot bodyis driven; a determination unitthat determinates presence/absence of a sign of malfunction of the robot bodybased on the feature amount; and an estimation unitthat estimates a remaining life of the robot bodywhen presence of a sign of malfunction of the robot bodyis determined.

Robot control apparatus, maintenance management method, and maintenance management program

Degradation degree of a bearing mechanism is diagnosed. A diagnosis apparatus includes: an acquisition unit that acquires measurement data relating to vibrations corresponding to a rotation of a bearing mechanism including rolling elements between an outer ring and an inner ring; an extraction unit that extracts a feature amount from a result of performing a frequency analysis on the measurement data; an estimation unit that estimates a size of a scratch generated on the outer ring or the inner ring based on a predetermined relationship between a change of the feature amount and a size of a scratch generated on the outer ring or the inner ring, and based on the feature amount extracted by the extraction unit; and an output unit that outputs an estimation result of the estimation unit.

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Kyotanabe, Japan

Teruyuki Shiraki