Abstract: A diagnostic system acquires operating condition information capable of identifying an operating condition of a robot arm. The diagnostic system acquires detection results of a plurality of sensor apparatuses installed in the robot arm. The diagnostic system estimates, by inputting the operating condition information acquired at a first point of time and the detection results of the plurality of sensor apparatuses acquired at the first point of time to a simulation model, the detection result of a particular sensor apparatus of the plurality of sensor apparatuses at the second point of time. The diagnostic system estimates a state of the particular sensor apparatus by comparing the detection result of the particular sensor apparatus at the second point of time, which is estimated, with the detection result of the particular sensor apparatus acquired at the second point of time.

Abstract: In a method of determining a deterioration state of an object, the deterioration state of the object is determined by determining whether a calculated value reaches a state determination threshold value or not, the calculated value utilizing at least one of brightness and a color component value calculated from a detection value detected by an optical sensor. The optical sensor includes an examination section containing liquid, a light emitting element emitting detection light toward the examination section, and a light receiving element detecting color information of the detection light traveled through the liquid.

Abstract: One object is to provide a lubricant deterioration sensor that can maintain accuracy of sensing the deterioration of a lubricant having low transmissivity and an optical sensor used therein for sensing the amount of received light. The lubricant deterioration sensor is used for determining deterioration state of a lubricant. The lubricant deterioration sensor includes an optical sensor having: an LED for emitting detection light; an oil entering gap in which the detection light passes through a lubricant to be inspected; a color sensor for sensing color information of the detection light having passed through the lubricant; and a logarithmic amplifier for logarithmically amplifying the detection value sensed by the color sensor and outputting the amplified detection value.

Abstract: The present invention provides a detection device for detecting a load and moment and capable of increasing the output by a strain gage. The detection device is provided with a characteristic sensor block. The sensor block includes a base having an axis extending in the direction of a load to be detected, a front side wall raised from the base at a position offset from the axis of the base, a rear side wall raised from the base at a position offset from the axis of the base in the direction opposite the front side wall, and an upper wall for connecting the upper end of the front side wall and the upper end of the rear side wall. The sensor block supports each strain gauge on the upper surface of the upper wall. The upper wall includes a center portion located at the center between the front side wall and the rear side wall, a first portion located between the center portion and the front side wall, and a second portion located between the center portion and the rear side wall.

Abstract: A lubricant deterioration sensor mounted in a machine to detect deterioration of a lubricant of the machine, the sensor comprising a white LED for emanating white light, an RGB sensor that detects colors of received light, a clearance forming member in which an oil clearance for intrusion of the lubricant is formed, and a support member that supports the white LED, the RGB sensor, and the clearance forming member; and wherein the clearance forming member allows passage of the light emitted from the white LED, and the oil clearance is placed along an optical path from the white LED to the RGB sensor.

Abstract: A state determination method is provided that is capable of determining at least one of the state of degradation of oil in a machine and the state of breakage of the machine with higher accuracy than conventional methods. A state determination method for determining the state of degradation of lubricating oil in a speed reducer and the state of breakage of the speed reducer is characterized by: transmitting white light emitted by a white LED through the lubricating oil, causing an RGB sensor to detect the color of the light transmitted through the lubricating oil by the white LED, and calculating the brightness of the color detected by the RGB sensor (S201); calculating a color component maximum difference that is the difference between a maximum value and a minimum value among the R value, G value, and B value of the color detected by the RGB sensor (S202); and determining the states on the basis of the brightness calculated in S201 and the color component maximum difference calculated in S202 (S203, S207).

Abstract: One object is to provide a lubricant deterioration sensor that can maintain accuracy of sensing the deterioration of a lubricant having low transmissivity and an optical sensor used therein for sensing the amount of received light. The lubricant deterioration sensor is used for determining deterioration state of a lubricant. The lubricant deterioration sensor includes an optical sensor having: an LED for emitting detection light; an oil entering gap in which the detection light passes through a lubricant to be inspected; a color sensor for sensing color information of the detection light having passed through the lubricant; and a logarithmic amplifier for logarithmically amplifying the detection value sensed by the color sensor and outputting the amplified detection value.

Abstract: In a method of determining a deterioration state of an object, the deterioration state of the object is determined by determining whether a calculated value reaches a state determination threshold value or not, the calculated value utilizing at least one of brightness and a color component value calculated from a detection value detected by an optical sensor. The optical sensor includes an examination section containing liquid, a light emitting element emitting detection light toward the examination section, and a light receiving element detecting color information of the detection light traveled through the liquid.

Abstract: A speed reducer for an industrial robot includes a speed reducer main body and a lubricant deterioration sensor for detecting deterioration of a lubricant in the speed reducer main body. The lubricant deterioration sensor includes a light emitting element for emitting light, a color light receiving element for detecting a color of received light, a clearance forming member forming an oil clearance in which the lubricant enters, and a support member supporting the light emitting element, the color light receiving element, and the clearance forming member. The clearance forming member is transmissive so that the light emitted from the light emitting element transmits therethrough. The oil clearance is provided on an optical path from the light emitting element to the color light receiving element.

Abstract: A lubricant deterioration sensor mounted in a machine to detect deterioration of a lubricant of the machine, the sensor comprising a white LED for emanating white light, an RGB sensor that detects colors of received light, a clearance forming member in which an oil clearance for intrusion of the lubricant is formed, and a support member that supports the white LED, the RGB sensor, and the clearance forming member; and wherein the clearance forming member allows passage of the light emitted from the white LED, and the oil clearance is placed along an optical path from the white LED to the RGB sensor.

Abstract: A state determination method is provided that is capable of determining at least one of the state of degradation of oil in a machine and the state of breakage of the machine with higher accuracy than conventional methods. A state determination method for determining the state of degradation of lubricating oil in a speed reducer and the state of breakage of the speed reducer is characterized by: transmitting white light emitted by a white LED through the lubricating oil, causing an RGB sensor to detect the color of the light transmitted through the lubricating oil by the white LED, and calculating the brightness of the color detected by the RGB sensor (S201); calculating a color component maximum difference that is the difference between a maximum value and a minimum value among the R value, G value, and B value of the color detected by the RGB sensor (S202); and determining the states on the basis of the brightness calculated in S201 and the color component maximum difference calculated in S202 (S203, S207).

Abstract: In a state determination method for determining the state of degradation of lubricating oil in a speed reducer and the state of breakage of the speed reducer, white light emitted by a white LED is transmitted through the lubricating oil, causing an RGB sensor to detect the color of the light transmitted through the lubricating oil by the white LED. The brightness of the color detected by the RGB sensor is calculated. A color component maximum difference that is the difference between a maximum value and a minimum value among the R value, G value, and B value of the color detected by the RGB sensor is calculated. The states on the basis of the calculated brightness and the calculated color component maximum difference are determined.

Abstract: A speed reducer for an industrial robot includes a speed reducer main body and a lubricant deterioration sensor for detecting deterioration of a lubricant in the speed reducer main body. The lubricant deterioration sensor includes a light emitting element for emitting light, a color light receiving element for detecting a color of received light, a clearance forming member forming an oil clearance in which the lubricant enters, and a support member supporting the light emitting element, the color light receiving element, and the clearance forming member. The clearance forming member is transmissive so that the light emitted from the light emitting element transmits therethrough. The oil clearance is provided on an optical path from the light emitting element to the color light receiving element.

Abstract: The present invention provides a detection device for detecting a load and moment and capable of increasing the output by a strain gage. The detection device is provided with a characteristic sensor block. The sensor block includes a base having an axis extending in the direction of a load to be detected, a front side wall raised from the base at a position offset from the axis of the base, a rear side wall raised from the base at a position offset from the axis of the base in the direction opposite the front side wall, and an upper wall for connecting the upper end of the front side wall and the upper end of the rear side wall. The sensor block supports each strain gauge on the upper surface of the upper wall. The upper wall includes a center portion located at the center between the front side wall and the rear side wall, a first portion located between the center portion and the front side wall, and a second portion located between the center portion and the rear side wall.

Abstract: A multi-articulated link knee joint capable of detecting a bending angle of a knee section without causing problems of an installation space and wiring of a sensor is provided. A four-link knee joint includes a knee section of a four-link mechanism, a fluid cylinder that restrains an action of the knee section, a position detecting device that detects a position of a piston rod with respect to a cylinder tube as an extension and contraction amount of the cylinder, and a computer that acquires a bending angle of the knee section by converting the position detected by the position detecting device.

Abstract: In a state determination method for determining the state of degradation of lubricating oil in a speed reducer and the state of breakage of the speed reducer, white light emitted by a white LED is transmitted through the lubricating oil, causing an RGB sensor to detect the color of the light transmitted through the lubricating oil by the white LED. The brightness of the color detected by the RGB sensor is calculated. A color component maximum difference that is the difference between a maximum value and a minimum value among the R value, G value, and B value of the color detected by the RGB sensor is calculated. The states on the basis of the calculated brightness and the calculated color component maximum difference are determined.

Abstract: A multi-articulated link knee joint capable of detecting a bending angle of a knee section without causing problems of an installation space and wiring of a sensor is provided. A four-link knee joint includes a knee section of a four-link mechanism, a fluid cylinder that restrains an action of the knee section, a position detecting device that detects a position of a piston rod with respect to a cylinder tube as an extension and contraction amount of the cylinder, and a computer that acquires a bending angle of the knee section by converting the position detected by the position detecting device.

Abstract: A speed reducer for an industrial robot includes a speed reducer main body and a lubricant deterioration sensor for detecting deterioration of a lubricant in the speed reducer main body. The lubricant deterioration sensor includes a light emitting element for emitting light, a color light receiving element for detecting a color of received light, a clearance forming member forming an oil clearance in which the lubricant enters, and a support member supporting the light emitting element, the color light receiving element, and the clearance forming member. The clearance forming member is transmissive so that the light emitted from the light emitting element transmits therethrough.

Abstract: A speed reducer for an industrial robot includes a speed reducer main body and a lubricant deterioration sensor for detecting deterioration of a lubricant in the speed reducer main body. The lubricant deterioration sensor includes a light emitting element for emitting light, a color light receiving element for detecting a color of received light, a clearance forming member forming an oil clearance in which the lubricant enters, and a support member supporting the light emitting element, the color light receiving element, and the clearance forming member. The clearance forming member is transmissive so that the light emitted from the light emitting element transmits therethrough. The oil clearance is provided on an optical path from the light emitting element to the color light receiving element.

Abstract: An actuator unit 100 which moves a light reflection element 32 in a predetermined optical path-switching-position includes a mover 120 to which the light reflection element 32 is fixed, and a fixed part body 110 including an E-shaped yoke 113. When the mover 120 is located at one end in its moving range, the posture of the mover 120 is specified by magnetic attraction forces in two directions orthogonal to each other which are generated between one end portion 113a yoke 113 and an orthogonal part 113c of the E-shaped, and the mover by a permanent magnet 121 and an electromagnet 118, whereby a tilt of the mover 120 can be prevented.