| 摘要 |
PROBLEM TO BE SOLVED: To provide a fault predicting method for industrial robot with which diagnosis can be successively performed even during the operation of a production line. SOLUTION: The data of respective shafts (i) consisting of a robot mechanism part are fetched from a servo system for controlling a servo motor, a load torque To is calculated while considering the interference of the other shaft corresponding to the massive particle model of the robot itself and load and the data of the respective shafts (i) and thereafter, a load side working index Wo is calculated as the product of the load torque To and angular velocityωi . Besides, the data of driving currents Ii of the servo motor for driving the respective shafts (i) are fetched from the servo system, a driving torque Ti is calculated by multiplying a torque constant Ki of the servo motor corresponding to this driving current Ii to this and thereafter, a driving side working index Wi is calculated as the product of the driving torque Ti and the angular velocityωi . Then, the ratio of working indexes (Wi /Wo ) is found from the calculated load side working index Wo and driving side working index Wi and this is compared with a previously set discriminative value so that it can be discriminated whether the robot mechanism part is degraded or not.
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