Title:
ROBOT ABNORMALITY DETERMINATION DEVICE
Document Type and Number:
Japanese Patent JP2019063893
Kind Code:
A
Abstract:
To provide a robot abnormality determination device that can determine whether an abnormality is caused by an external factor or an internal factor.SOLUTION: An abnormality determination device 70 that determines an abnormality of a robot 10 equipped with a plurality of joints comprises: a torque acquisition part 71 that acquires torque at the time of rotating each joint and a torque correlation amount including a parameter correlating with the torque; a first determination part 72 that determines that the robot is abnormal when the torque correlation amount of each joint acquired by the torque acquisition part is larger than each threshold corresponding to each joint; and a second determination part 73 that determines an abnormality caused by an external factor when the first determination part determines that a plurality of joints are abnormal in a prescribed period of time and determines an abnormality caused by an internal factor when the first determination part determines that only one joint is abnormal in the prescribed period of time.SELECTED DRAWING: Figure 2
Inventors:
UEHARA SHINYA
Application Number:
JP2017189067A
Publication Date:
April 25, 2019
Filing Date:
September 28, 2017
Export Citation:
Assignee:
DENSO WAVE INC
International Classes:
B25J19/06; F16C19/52; G01M13/04
Domestic Patent References:
| JP2017120649A | 2017-07-06 | |||
| JP2017007010A | 2017-01-12 | |||
| JP2016059970A | 2016-04-25 | |||
| JPH09174482A | 1997-07-08 | |||
| JPH09257651A | 1997-10-03 | |||
| JP2009109267A | 2009-05-21 | |||
| JP2019063881A | 2019-04-25 |
Foreign References:
| WO2015137038A1 | 2015-09-17 | |||
| US20170059449A1 | 2017-03-02 |
Attorney, Agent or Firm:
Tsuyoshi Yamada
Hiroshi Matsuda
Hiroshi Matsuda