| 摘要 |
PURPOSE:To accurately detect the deterioration of a composing part by providing a deciding means outputting a deteriorations detection signal in the case that the size of the sound, vibration or deflection is detected by a sensor beingfound more than a reference value after compared with the reference value and a processing means carrying out the necessary processing operation in response to the deterioration detection signal of this deciding means. CONSTITUTION:Prior to the breakdown of the component of a robot, wear, deformation or defective lubrication is caused generally and the sound, vibration or deflection becomes larger. Such sound, vibration or deflection is detected by a sensor 8 and compared with a reference value by a deciding means 12. In the case when the detection value by the sensor 8 becomes larger than the reference value, a processing means (annunciator) 14 performs the necessary processing operation, for instance the annunciation or the operation stoppage of the robot. If the robot is inspected at the time when this processing operation is carried out, the place of the wear, deformation or defective lubrication can be discovered and the breakdown accident can be prevented by performing the part change, lubrication oil supply, etc. |
