Abnormality detection device, adsorption apparatus, and abnormality detection method

Abstract

An abnormality detection device (100) according to the present disclosure comprises: an information acquisition unit (46) that acquires, on the basis of a detection signal from a vacuum pressure sensor (28), information indicating the vacuum pressure of a communication path (20) of an adsorption apparatus (12); and an abnormality determination unit (48) that determines that there is an abnormality if a first vacuum pressure (VP1) is equal to or greater than a predetermined first threshold value (TH1), the first vacuum pressure (VP1) being the vacuum pressure of the communication path in a case where a vacuum pressure is applied to the communication path from a vacuum source (14) and an object to be adsorbed is not adsorbed by an adsorption unit (26) provided in the adsorption apparatus.

Description

Abnormality detection device, suction device, and abnormality detection method

[0001] The present disclosure relates to an abnormality detection device, an adsorption device, and an abnormality detection method.

[0002] Japanese Patent Laid-Open Publication No. 2005-009337 discloses a fault diagnosis device for a vacuum pump, which diagnoses a fault in the vacuum pump based on the temperature, drive current, etc. of the vacuum pump.

[0003] There is a need for an abnormality detection device, an adsorption device, and an abnormality detection method that can effectively detect abnormalities in an adsorption device that adsorbs an object to be adsorbed using vacuum pressure.

[0004] The present invention aims to solve the above-mentioned problems.

[0005] A first aspect of the present invention is an abnormality detection device that detects an abnormality in an adsorption device that adsorbs an object to be adsorbed using vacuum pressure, wherein the adsorption device includes a connecting passage connected to a vacuum source that generates the vacuum pressure, an adsorption unit that can adsorb the object to be adsorbed using the vacuum pressure applied from the vacuum source through the connecting passage, and a vacuum pressure sensor that outputs a detection signal corresponding to the vacuum pressure in the connecting passage, and the abnormality detection device also includes an information acquisition unit that acquires information indicating the vacuum pressure in the connecting passage based on the detection signal, and an abnormality determination unit that determines that the abnormality exists if a first vacuum pressure, which is the vacuum pressure in the connecting passage when the vacuum pressure is applied from the vacuum source to the connecting passage and the object to be adsorbed is not adsorbed by the adsorption unit, is equal to or greater than a predetermined first threshold value.

[0006] A second aspect of the present invention is an adsorption device including the abnormality detection device.

[0007] A third aspect of the present invention is an abnormality detection method for detecting an abnormality in an adsorption device that adsorbs an object to be adsorbed by vacuum pressure, wherein the adsorption device includes a communicating passage connected to a vacuum source that generates the vacuum pressure, an adsorption unit that can adsorb the object to be adsorbed using the vacuum pressure applied from the vacuum source via the communicating passage, and a vacuum pressure sensor that outputs a detection signal corresponding to the vacuum pressure in the communicating passage, the abnormality detection method comprising: an information acquisition step of acquiring information indicating the vacuum pressure in the communicating passage based on the detection signal; and an abnormality determination step of determining that the abnormality exists if a first vacuum pressure, which is the vacuum pressure in the communicating passage when the vacuum pressure is applied from the vacuum source to the communicating passage and the object to be adsorbed is not adsorbed by the adsorption unit, is equal to or greater than a predetermined first threshold value.

[0008] According to the present invention, abnormalities in the adsorption device can be detected easily and accurately.

[0009] Fig. 1 is a schematic diagram showing the configuration of an adsorption system according to one embodiment. Fig. 2 is a perspective view of an adsorption device provided in the adsorption system. Fig. 3 is a flowchart of an abnormality detection method. Fig. 4 is another flowchart of the abnormality detection method.

[0010] The fault diagnosis device disclosed in Japanese Patent Laid-Open Publication No. 2005-009337 has at least the following problems. That is, the fault diagnosis device cannot always effectively detect an abnormality in an adsorption device that adsorbs an object to be adsorbed using vacuum pressure (negative pressure) generated by a vacuum pump. For example, the adsorption device is equipped with a pipe to which the vacuum pressure is applied. The pipe is equipped with a filter to prevent foreign matter from entering through a vacuum port provided in the adsorption device. It is difficult to detect clogging of the filter based on the temperature, drive current, etc. of the vacuum pump. This is because the temperature, drive current, etc. of the vacuum pump do not necessarily change significantly depending on whether the filter is clogged.

[0011] Based on the above preliminary explanation, one embodiment will be described below.

[0012] 1 is a schematic diagram showing the configuration of an adsorption system 10 according to an embodiment. FIG. 2 is a perspective view of an adsorption device 12 provided in the adsorption system 10.

[0013] As shown in FIG. 1, the adsorption system 10 includes an adsorption device 12 .

[0014] The suction device 12 is a device that uses vacuum pressure (negative pressure) to suction an object to be sucked (not shown). The suction device 12 is, for example, a vacuum gripper as shown in FIG. 2. The suction device 12 can be realized as an end effector attached to an industrial robot arm (not shown). As shown in FIG. 1, the suction device 12 includes a vacuum source 14 and a communication path 20 connected to the vacuum source 14. The communication path 20 is formed by, for example, a pipe. The suction device 12 will be described in more detail below.

[0015] The vacuum source 14 includes a vacuum device 16 that applies a vacuum pressure to the communication passage 20. The vacuum device 16 includes, for example, but is not limited to, a vacuum pump 161. For example, a vacuum ejector may be provided as the vacuum device 16.

[0016] The vacuum pump 161 has an intake port 161a and an exhaust port 161b. The intake port 161a is connected to the communication passage 20 of the above-mentioned suction device 12. The vacuum pump 161 sucks air from the communication passage 20 via the intake port 161a. This increases the degree of vacuum within the communication passage 20. That is, the air from the communication passage 20 is sucked into the vacuum source 14 via the intake port 161a, thereby applying vacuum pressure to the communication passage 20. The exhaust port 161b exhausts the air sucked in via the intake port 161a into the atmosphere AP.

[0017] The vacuum source 14 may further be provided with a check valve 18 that prevents backflow of air. The vacuum source 14 may be provided with multiple check valves 18 (181, 182). For example, the vacuum source 14 may be provided with a first check valve 181 and a second check valve 182 shown in FIG. 1 . The first check valve 181 is connected to the intake port 161a. The first check valve 181 prevents air from flowing from the vacuum pump 161 toward the communication passage 20. The second check valve 182 is connected to the exhaust port 161b. The second check valve 182 prevents air exhausted from the exhaust port 161b from flowing toward the vacuum pump 161.

[0018] 2, the suction device 12 includes an arm connecting portion 22, a communication connector portion 24, and a suction portion 26. As shown in FIG. 1, the suction device 12 further includes a vacuum pressure sensor 28, a filter 30, an atmosphere release device 32, a notification portion 34, an operation portion 36, and an abnormality detection device 100.

[0019] The arm connecting portion 22 is provided with a connector that can be connected to, for example, the above-mentioned industrial robot arm (not shown). The suction device 12 can be attached to the industrial robot arm via the arm connecting portion 22.

[0020] The communication connector unit 24 is provided with a connector that can connect a communication cable that is connected to the suction device 12 and the above-mentioned industrial robot arm (not shown). For example, the abnormality detection device 100 in FIG. 1 and an industrial robot arm (not shown) can be communicatively connected via the communication connector unit 24 and the communication cable connected to the communication connector unit 24. Note that the communication connector unit 24 may also be communicatively connected to machines, electronic devices, etc. other than the industrial robot arm via the communication cable.

[0021] The suction unit 26 is provided at one end of the communicating passage 20. As shown in FIG. 2 , the vacuum source 14 is provided at the other end of the communicating passage 20, while the vacuum source 14 is provided at one end of the communicating passage 20. The suction unit 26 includes a member that can suction to an object to be suctioned using vacuum pressure. The member includes, for example, a vacuum pad 261. As shown in FIGS. 1 and 2 , the suction unit 26 may be provided with a plurality of vacuum pads 261. Four vacuum pads 261 are shown in FIG. 2 . Some of the four vacuum pads 261 are not shown in FIG. 1 .

[0022] The suction unit 26 has a vacuum port 261 a. Each of the plurality of vacuum pads 261 has a vacuum port 261 a. The vacuum ports 261 a communicate with the communication passage 20. The suction unit 26 applies vacuum pressure to the object to be suctioned via the vacuum ports 261 a, thereby suctioning the object to be suctioned.

[0023] The vacuum pressure sensor 28 is a sensor that outputs a detection signal corresponding to the vacuum pressure in the communication passage 20. The vacuum pressure sensor 28 includes a pressure sensor such as a vacuum gauge. The vacuum pressure sensor 28 is provided in the communication passage 20. In this embodiment, a case where one vacuum pressure sensor 28 is provided for a plurality of vacuum pads 261 will be described, but this is not limiting. A vacuum pressure sensor 28 may be provided for each of the plurality of vacuum pads 261.

[0024] The filter 30 is a member that prevents foreign matter such as dust from entering the suction device 12 through the vacuum port 261a. The filter 30 may include a mesh member that allows air to pass through while preventing foreign matter from passing through. The filter 30 is provided in the communication path 20. For example, the filter 30 may be provided in a portion of the communication path 20 between the suction unit 26 and the vacuum pressure sensor 28. Furthermore, the suction device 12 may be provided with a plurality of filters 30 corresponding to a plurality of vacuum pads 261 (see also FIG. 2 ).

[0025] The atmosphere release device 32 is a device (vacuum breaker) for returning the air pressure in the communication passage 20, to which a vacuum pressure has been applied, to atmospheric pressure as necessary. As shown in Fig. 1, the atmosphere release device 32 includes, for example, a solenoid valve 321. In response to operation of the solenoid valve 321, the atmosphere release device 32 selectively switches between a closed state and an open state.

[0026] The closed state is a state in which the communication passage 20 and the atmosphere AP are not in communication with each other via the atmosphere release device 32. An example in which the atmosphere release device 32 is in the closed state is shown in FIG. 1. When the atmosphere release device 32 is in the closed state, gas is prohibited from entering or leaving the communication passage 20 via the atmosphere release device 32. In this case, it is possible to apply vacuum pressure from the vacuum source 14 to the object to be adsorbed via the vacuum port 261a. In other words, when the atmosphere release device 32 is in the closed state, it is possible for the adsorption unit 26 to adsorb the object to be adsorbed.

[0027] The open state is a state in which the communication passage 20 and the atmosphere AP are connected via the atmosphere release device 32. The atmosphere release device 32 shown in FIG. 1 can transition from a closed state to an open state by being driven in the direction indicated by arrow D1. When the atmosphere release device 32 is in the open state, gas is allowed to flow into and out of the communication passage 20 via the atmosphere release device 32. In this case, even when the vacuum source 14 is driven, the air pressure within the communication passage 20 remains equal to atmospheric pressure. Therefore, vacuum pressure is not applied to the object to be adsorbed. In other words, when the atmosphere release device 32 is in the open state, the suction unit 26 does not adsorb the object to be adsorbed using vacuum pressure. If the object to be adsorbed is adsorbed by the suction unit 26, the suction unit 26 can release the object from being adsorbed by the suction unit 26 by transitioning the atmosphere release device 32 to the open state. Note that the atmosphere release device 32 in the open state can be returned to the closed state by being driven in the direction opposite to arrow D1.

[0028] The alarm unit 34 includes an alarm for notifying a user of the suction device 12 of an abnormality in the suction device 12. The alarm includes, for example, a display unit 341 capable of displaying information, a flashing lamp (not shown), and a buzzer (speaker) (not shown) capable of emitting sound. The display unit 341 and the lamp (not shown) may each be provided with a light-emitting element such as a light-emitting diode. The display unit 341 includes, for example, a seven-segment display, but is not limited to this. The alarm unit 34 may be controlled by the abnormality detection device 100 described below.

[0029] The operation unit 36 ​​includes an interface used by the user to issue instructions to the adsorption device 12. The operation unit 36 ​​includes, for example, a button 361 that can be operated by the user. The adsorption device 12 may be provided with a plurality of buttons 361. The operation unit 36 ​​also includes a predetermined button 362. The predetermined button 362 may be arranged in a different position on the adsorption device 12 from the position where the plurality of buttons 361 are arranged (see also FIG. 2 ), but is not limited to this.

[0030] The abnormality detection device 100 is a device for detecting an abnormality in the suction device 12. The abnormality detection device 100 may be included in, for example, a microcontroller (computer) for controlling the suction device 12. The abnormality detection device 100 includes a storage unit 38 and a calculation unit 40.

[0031] The storage unit 38 includes one or more memories (not shown). More specifically, the storage unit 38 includes, for example, a nonvolatile memory such as a read-only memory (ROM) or a flash memory, and a volatile memory such as a random access memory (RAM). The nonvolatile memory stores, for example, a computer-executable program. The volatile memory stores, for example, data temporarily required when a processor (calculation unit 40) (described later) performs calculations based on the program.

[0032] As shown in FIG. 1 , the memory unit 38 stores a first threshold value TH1 (information indicating the first threshold value TH1) and a second threshold value TH2 (information indicating the second threshold value TH2). The first threshold value TH1 indicates the upper limit of the normal vacuum pressure applied to the communication passage 20 when the vacuum source 14 is operated in a predetermined first operation mode and no object to be sucked is being sucked by the suction unit 26. In the predetermined first operation mode, the vacuum source 14 is driven to suck air at a predetermined force. In contrast, the second threshold value TH2 indicates the lower limit of the normal vacuum pressure applied to the communication passage 20 when the vacuum source 14 is operated in a predetermined second operation mode and the vacuum port 261a is blocked by an object to be sucked. In the predetermined second operation mode, the vacuum source 14 is driven to suck air at a predetermined force. The force of the suction air in the predetermined first operation mode and the force of the suction air in the predetermined second operation mode may be different from or the same as each other. The first threshold value TH1 and the second threshold value TH2 are determined in advance based on, for example, experiments.

[0033] The calculation unit 40 includes a predetermined processing circuit (not shown). This processing circuit has one or more processors, such as a central processing unit (CPU) or a graphics processing unit (GPU). At least a part of the processing circuit may be realized by a predetermined integrated circuit, such as an application specific integrated circuit (ASIC) or a field-programmable gate array (FPGA).

[0034] 1, the calculation unit 40 includes an instruction receiving unit 42, a vacuum pressure control unit 44, an information acquisition unit 46, an abnormality determination unit 48, and a notification control unit 50. The instruction receiving unit 42, the vacuum pressure control unit 44, the information acquisition unit 46, the abnormality determination unit 48, and the notification control unit 50 are realized by the calculation unit 40 (processor) executing a program stored in the storage unit 38 (memory). At least some of the instruction receiving unit 42, the vacuum pressure control unit 44, the information acquisition unit 46, the abnormality determination unit 48, and the notification control unit 50 may be realized by an integrated circuit such as the above-mentioned ASIC or FPGA.

[0035] The instruction receiving unit 42 receives an execution instruction to cause the abnormality detection device 100 to execute the abnormality detection method (see also FIGS. 3 and 4 ). The execution instruction can be issued, for example, by a user operating a predetermined button 362 provided on the operation unit 36. Note that the execution instruction may be automatically issued to the abnormality detection device 100 at a pre-specified time. The execution instruction may also be automatically issued to the abnormality detection device 100 when the suction device 12 (industrial robot arm) is activated.

[0036] The vacuum pressure control unit 44 controls the vacuum source 14 and the atmosphere release device 32. The vacuum pressure control unit 44 controls the atmosphere release device 32 to transition the atmosphere release device 32 to a non-open state. The vacuum pressure control unit 44 also drives the vacuum source 14 to cause the vacuum pump 161 to suck air. This applies vacuum pressure to the communication passage 20.

[0037] At least one of the vacuum source 14 and the atmosphere vent device 32 may be controlled by a control device separate from the abnormality detection device 100. The control device may include, for example, a control circuit, a computer, etc. separate from the abnormality detection device 100. The vacuum pressure control unit 44 may issue instructions to the control device to substantially control the vacuum source 14 and the atmosphere vent device 32.

[0038] The information acquiring unit 46 acquires vacuum pressure information based on the detection signal of the vacuum pressure sensor 28. The vacuum pressure information indicates the vacuum pressure in the communicating passage 20. The information acquiring unit 46 can acquire vacuum pressure information (first vacuum pressure information) indicating a first vacuum pressure VP1 and vacuum pressure information (first vacuum pressure information) indicating a second vacuum pressure VP2. The first vacuum pressure VP1 is the vacuum pressure applied to the communicating passage 20 when the vacuum source 14 is operated in a predetermined first operating mode and no object to be adsorbed is being adsorbed by the suction unit 26. The second vacuum pressure VP2 is the vacuum pressure applied to the communicating passage 20 when the vacuum source 14 is operated in a predetermined second operating mode and the vacuum port 261a is blocked by an object to be adsorbed. Regarding the second vacuum pressure VP2, the object to be adsorbed by the suction unit 26 can be prepared by the user.

[0039] The abnormality determination unit 48 can perform a first abnormality determination and a second abnormality determination, which will be described next, based on the vacuum pressure information.

[0040] In the first abnormality determination, the abnormality determination unit 48 determines whether or not a foreign object is present in the communication passage 20 based on whether or not the first vacuum pressure VP1 is equal to or greater than a first threshold value TH1 (VP1≧TH1). For example, if the first vacuum pressure VP1 is equal to or greater than the first threshold value TH1, the abnormality determination unit 48 may determine that the filter 30 provided in the communication passage 20 is clogged with foreign object such as dust.

[0041] The reason why it is possible to determine whether a foreign object is present in the communicating passage 20 based on whether the first vacuum pressure VP1 is equal to or greater than the first threshold value TH1 is as follows. That is, when the suction unit 26 is not suctioning an object to be sucked and no foreign object is present in the communicating passage 20, the vacuum source 14 is driven to supply outside air to the communicating passage 20 via the vacuum port 261a. As a result, even when the vacuum source 14 is driven, the communicating passage 20 does not become vacuum. In other words, even when the vacuum source 14 is driven, if the vacuum port 261a is not blocked by an object to be sucked, the vacuum pressure in the communicating passage 20 is kept below a certain level. More specifically, when the vacuum source 14 is driven in a predetermined first operating mode and the vacuum port 261a is not blocked by an object to be sucked, the vacuum pressure in the communicating passage 20 should be kept below the first threshold value TH1. On the other hand, if a foreign object is present in the communicating passage 20, the supply of outside air to the communicating passage 20 via the vacuum port 261a is blocked by the foreign object. For example, if the filter 30 is clogged with foreign matter, the foreign matter will prevent the supply of outside air to the communicating passage 20 via the vacuum port 261a. This increases the vacuum pressure in the communicating passage 20 as the vacuum source 14 is driven. As a result, the vacuum pressure in the communicating passage 20 becomes equal to or greater than the first threshold value TH1. For this reason, if the first vacuum pressure VP1 is equal to or greater than the first threshold value TH1, it can be determined that there is a high possibility that foreign matter is present in the communicating passage 20.

[0042] In the second abnormality determination, the abnormality determination unit 48 determines whether an abnormality exists based on whether the second vacuum pressure VP2 is equal to or less than the second threshold value TH2 (VP2≦TH2). For example, if the second vacuum pressure VP2 is equal to or less than the second threshold value TH2, the abnormality determination unit 48 determines that an abnormality exists in the suction unit 26, the communication passage 20, the atmosphere release device 32, the vacuum pump 161, or the like.

[0043] Whether or not there is an abnormality in the suction unit 26, the communicating passage 20, the atmospheric release device 32, the vacuum pump 161, etc. can be determined based on whether the second vacuum pressure VP2 is equal to or less than the second threshold value TH2 for the following reason. That is, when an object to be sucked is sucked by the suction unit 26, the vacuum port 261a is blocked by the object. This restricts the supply of outside air to the communicating passage 20 via the vacuum port 261a. As a result, when the vacuum source 14 is driven, the vacuum pressure in the communicating passage 20 is increased to a certain level or more. More specifically, when the vacuum source 14 is driven in the predetermined second operating mode, the vacuum pressure in the communicating passage 20 should exceed the second threshold value TH2. However, if the suction unit 26, the communicating passage 20, etc. are damaged, for example, the vacuum pressure is not normally applied to the communicating passage 20. As a result, even when the vacuum port 261a is blocked and the vacuum source 14 is driven in the predetermined second operating mode, the vacuum pressure in the communicating passage 20 is equal to or lower than the second threshold value TH2. Furthermore, if the atmosphere release device 32, the vacuum pump 161, or the like malfunctions, the vacuum pressure is not normally applied to the communicating passage 20. As a result, the vacuum pressure detected by the vacuum pressure sensor 28 is equal to or lower than the second threshold value TH2. For these reasons, when the second vacuum pressure VP2 is equal to or lower than the second threshold value TH2, it can be determined that there is an abnormality in the suction unit 26, the communicating passage 20, the atmosphere release device 32, the vacuum pump 161, or the like.

[0044] The notification control unit 50 executes notification control when the abnormality determination unit 48 determines that an abnormality exists. The notification control is control for notifying the user of the existence of an abnormality. The notification control unit 50, for example, lights up the display unit 341 provided in the notification unit 34 based on the result of the first abnormality determination. In this way, the notification control unit 50 can notify the user that a foreign object is present in the communication passage 20. Furthermore, the notification control unit 50 sounds a buzzer (not shown) provided in the notification unit 34 based on the result of the second abnormality determination. In this way, the notification control unit 50 can notify the user that an abnormality exists in the suction unit 26, the communication passage 20, the atmosphere release device 32, the vacuum pump 161, or the like. The notification control unit 50 may sound the buzzer based on the result of the first abnormality determination, or may light up the display unit 341 based on the result of the second abnormality determination.

[0045] 3 is a flowchart of the abnormality detection method, which shows the flow chart when the first abnormality determination is performed.

[0046] The above-described abnormality detection device 100 can execute an abnormality detection method. The abnormality detection method can be realized, for example, by having the calculation unit 40 (processor) execute a predetermined program stored in the storage unit 38 (memory). As shown in Fig. 3 , the abnormality detection method includes an instruction receiving step S1, a vacuum pressure control step S2, an information acquisition step S3, an abnormality determination step S4 (first abnormality determination step S41), and a notification control step S5.

[0047] In the instruction receiving step S1, the instruction receiving unit 42 receives an execution instruction. In the instruction receiving step S1 shown in Fig. 3, the instruction receiving unit 42 receives an execution instruction to perform a first abnormality determination.

[0048] In the vacuum pressure control step S2, the vacuum pressure control unit 44 causes the vacuum source 14 to suck air from the communication passage 20. This applies vacuum pressure to the communication passage 20. Note that the vacuum pressure control step S2 shown in Fig. 3 is executed so that the object to be sucked is not sucked by the suction unit 26. In other words, the vacuum pressure control step S2 shown in Fig. 3 is executed so that the vacuum port 261a is not blocked by the object to be sucked.

[0049] In the information acquisition step S3, the information acquisition unit 46 acquires first vacuum pressure information. As described above, the vacuum pressure control step S2 shown in Fig. 3 is executed in a state where the suction target is not being suctioned by the suction unit 26. This allows the information acquisition unit 46 to acquire the first vacuum pressure information.

[0050] In the first abnormality determination step S41, the abnormality determination unit 48 compares the first vacuum pressure VP1 with a first threshold value TH1. The first vacuum pressure VP1 is indicated by the first vacuum pressure information. If the first vacuum pressure VP1 is equal to or greater than the first threshold value TH1 (YES in S41), the abnormality determination unit 48 determines that an abnormality exists. More specifically, if the first vacuum pressure VP1 is equal to or greater than the first threshold value TH1, the abnormality determination unit 48 may determine that a foreign object is likely to be present in the communication passage 20. If the first vacuum pressure VP1 is less than the first threshold value TH1 (NO in S41), the abnormality determination unit 48 may determine that no abnormality exists. More specifically, if the first vacuum pressure VP1 is less than the first threshold value TH1, the abnormality determination unit 48 may determine that a foreign object is likely to be absent in the communication passage 20.

[0051] If it is determined in the first abnormality determination step S41 that an abnormality has occurred, a notification control step S5 is executed. In the notification control step S5, the notification control unit 50 controls the notification unit 34 to notify the user that an abnormality has occurred. For example, in the notification control step S5, the notification control unit 50 turns on the display unit 341. This notifies the user that an abnormality has occurred in the suction device 12.

[0052] If it is determined in the first abnormality determination step S41 that no abnormality exists, the notification control step S5 may be executed. In this case, in the notification control step S5, the notification control unit 50 may control the notification unit 34 to notify that no abnormality exists in the suction device 12.

[0053] This completes the anomaly detection method shown in FIG.

[0054] 4 is another flowchart of the abnormality detection method, which shows a flowchart in the case where the second abnormality determination is performed.

[0055] The abnormality detection device 100 can execute the abnormality detection method shown in Fig. 4. Similar to the abnormality detection method shown in Fig. 3, the abnormality detection method shown in Fig. 4 includes an instruction receiving step S1, a vacuum pressure control step S2, an information acquisition step S3, an abnormality determination step S4, and a notification control step S5. The abnormality detection method shown in Fig. 4 differs from the abnormality detection method of Fig. 3 at least in that a second abnormality determination step S42 is executed in the abnormality determination step S4.

[0056] In the instruction receiving step S1, the instruction receiving unit 42 receives an execution instruction. In the instruction receiving step S1 shown in Fig. 4, the instruction receiving unit 42 receives an execution instruction for the second abnormality determination.

[0057] In the vacuum pressure control step S2, the vacuum pressure control unit 44 causes the vacuum source 14 to suck air from the communication passage 20. This applies vacuum pressure to the communication passage 20. Note that the vacuum pressure control step S2 shown in Fig. 4 is executed in a state where an object to be sucked is prepared in advance and the vacuum port 261a is blocked by the object to be sucked.

[0058] In the information acquisition step S3, the information acquisition unit 46 acquires second vacuum pressure information. As described above, the vacuum pressure control step S2 shown in Fig. 4 is executed so that the vacuum port 261a is blocked by the object to be sucked. This allows the information acquisition unit 46 to acquire the second vacuum pressure information.

[0059] In the second abnormality determination step S42, the abnormality determination unit 48 compares the second vacuum pressure VP2 with a second threshold value TH2. The second vacuum pressure VP2 is indicated by the second vacuum pressure information. If the second vacuum pressure VP2 is equal to or less than the second threshold value TH2 (YES in S42), the abnormality determination unit 48 determines that an abnormality exists. More specifically, if the second vacuum pressure VP2 is equal to or less than the second threshold value TH2, the abnormality determination unit 48 may determine that the suction unit 26, the communication passage 20, etc. are likely to be damaged. If the second vacuum pressure VP2 is equal to or less than the second threshold value TH2, the abnormality determination unit 48 may determine that the atmosphere release device 32, the vacuum pump 161, etc. are likely to be malfunctioning. If the second vacuum pressure VP2 is greater than the second threshold value TH2 (NO in S42), the abnormality determination unit 48 determines that no abnormality exists.

[0060] If it is determined in the second abnormality determination step S42 that an abnormality has occurred, the notification control step S5 is executed. In the notification control step S5, the notification control unit 50 controls the notification unit 34 to notify the user that an abnormality has occurred. For example, in the notification control step S5, the notification control unit 50 sounds a buzzer. This notifies the user that an abnormality has occurred in the suction device 12.

[0061] If it is determined in the second abnormality determination step S42 that no abnormality exists, the notification control step S5 may be executed. In this case, in the notification control step S5, the notification control unit 50 may control the notification unit 34 to notify that no abnormality exists in the suction device 12.

[0062] This completes the anomaly detection method shown in FIG.

[0063] One embodiment may be modified as follows. In the following modifications, descriptions that overlap with the embodiment will be omitted as appropriate. In addition, in the drawings used in the following modifications, the same reference numerals are used for the same components as those described in the embodiment.

[0064] (Modification 1) The abnormality detection device 100 may be provided separately from the suction device 12. For example, the abnormality detection device 100 may be provided in a control computer for controlling the above-described industrial robot arm (see one embodiment).

[0065] (Variation 2) The notification control unit 50 may control an alarm provided outside the suction device 12 to notify of an abnormality in the suction device 12. For example, the notification control unit 50 may control an alarm installed somewhere in the factory. More specifically, the notification control unit 50 may control, for example, a lamp, a speaker, a display, or the like installed in the factory.

[0066] (Modification 3) The vacuum source 14 may be provided outside the adsorption device 12 .

[0067] (Modification 4) The abnormality detection method of FIG. 3 and the abnormality detection method of FIG. 4 may be combined as appropriate.

[0068] For example, the user may arbitrarily select either the first abnormality determination ( FIG. 3 ) or the second abnormality determination ( FIG. 4 ) by operating the operation unit 36. Based on the result of the selection, the abnormality detection device 100 may appropriately execute either the abnormality detection method of FIG. 3 or the abnormality detection method of FIG. 4 .

[0069] Furthermore, for example, after the abnormality detection method of Fig. 3 (first abnormality determination step S41) is executed, the abnormality detection method of Fig. 4 (second abnormality determination step S42) may be automatically started. After the abnormality detection method of Fig. 4 (second abnormality determination step S42) is executed, the abnormality detection method of Fig. 3 (first abnormality determination step S41) may be automatically started.

[0070] (Combination of Multiple Modifications) The multiple modifications described above may be combined as appropriate within a range that does not cause inconsistency.

[0071] The following additional notes are further disclosed regarding the above embodiment.

[0072] (Supplementary Note 1) The abnormality detection device (100) according to the present disclosure is an abnormality detection device that detects an abnormality in an adsorption device (12) that adsorbs an object to be adsorbed by vacuum pressure, the adsorption device including: a communication passage (20) connected to a vacuum source (14) that generates the vacuum pressure; an adsorption unit (26) that can adsorb the object to be adsorbed by using the vacuum pressure applied from the vacuum source via the communication passage; and a vacuum pressure sensor (28) that outputs a detection signal according to the vacuum pressure in the communication passage; an information acquisition unit (46) that acquires information indicating the vacuum pressure in the communication passage based on the detection signal; and an abnormality determination unit (48) that determines that the abnormality exists if a first vacuum pressure (VP1), which is the vacuum pressure in the communication passage when the vacuum pressure is applied from the vacuum source to the communication passage and the object to be adsorbed is not adsorbed by the adsorption unit, is equal to or greater than a predetermined first threshold value (TH1).

[0073] (Supplementary Note 2) In the abnormality detection device according to Supplementary Note 1, when the first vacuum pressure is equal to or greater than the first threshold value, the abnormality determination unit may determine that a foreign object is present in the communication passage.

[0074] (Appendix 3) The abnormality detection device described in Appendix 2 may be an abnormality detection device in which, when the first vacuum pressure is equal to or greater than the first threshold value, the abnormality determination unit determines that a filter (30) provided in a portion of the communicating passage between the suction unit and the vacuum pressure sensor is clogged with the foreign matter.

[0075] (Appendix 4) The abnormality detection device described in Appendix 1 may be an abnormality detection device in which, when the vacuum pressure is applied from the vacuum source to the connecting passage and the object to be adsorbed is adsorbed by the adsorption unit, a second vacuum pressure (VP2) of the connecting passage is equal to or less than a predetermined second threshold value (TH2), the abnormality determination unit determines that the abnormality exists.

[0076] (Supplementary Note 5) The abnormality detection device according to Supplementary Note 1 may further include a notification control unit (50) that executes control to notify the user of the presence of an abnormality when the abnormality determination unit determines that the abnormality exists.

[0077] (Supplementary Note 6) An adsorption device (12) according to the present disclosure is an adsorption device including the abnormality detection device according to any one of Supplementary Notes 1 to 5.

[0078] (Appendix 7) The abnormality detection method according to the present disclosure is an abnormality detection method for detecting an abnormality in an adsorption device (12) that adsorbs an object to be adsorbed by vacuum pressure, the adsorption device including: a communication passage (20) connected to a vacuum source (14) that generates the vacuum pressure; an adsorption section (26) that can adsorb the object to be adsorbed by using the vacuum pressure applied from the vacuum source via the communication passage; and a vacuum pressure sensor (28) that outputs a detection signal corresponding to the vacuum pressure in the communication passage, the abnormality detection method including: an information acquisition step (S3) that acquires information indicating the vacuum pressure in the communication passage based on the detection signal; and an abnormality determination step (S4) that determines that the abnormality exists if a first vacuum pressure (VP1), which is the vacuum pressure in the communication passage when the vacuum pressure is applied from the vacuum source to the communication passage and the object to be adsorbed is not adsorbed by the adsorption section, is equal to or greater than a predetermined first threshold value (TH1).

[0079] The present invention is not limited to the above disclosure, and various configurations can be adopted without departing from the gist of the present disclosure.

[0080] 12... Suction device 14... Vacuum source 20... Communication path 26... Suction section 28... Vacuum pressure sensor 30... Filter 46... Information acquisition section 48... Abnormality determination section 50... Notification control section 100... Abnormality detection device TH1... First threshold value TH2... Second threshold value VP1... First vacuum pressure VP2... Second vacuum pressure

Claims

1. An abnormality detection device (100) for detecting an abnormality of a suction device (12) that suctions an object to be suctioned by a vacuum pressure, wherein the suction device includes a communication path (20) connected to a vacuum source (14) that generates the vacuum pressure, a suction portion (26) that can suction the object to be suctioned using the vacuum pressure applied from the vacuum source via the communication path, and a vacuum pressure sensor (28) that outputs a detection signal corresponding to the vacuum pressure in the communication path, and includes an information acquisition unit (46) that acquires information indicating the vacuum pressure in the communication path based on the detection signal, and an abnormality determination unit (48) that determines that there is an abnormality when a first vacuum pressure (VP1), which is the vacuum pressure in the communication path when the vacuum pressure is applied from the vacuum source to the communication path and the object to be suctioned is not suctioned by the suction portion, is equal to or greater than a predetermined first threshold value (TH1). An abnormality detection device.

2. The abnormality detection device according to claim 1, wherein when the first vacuum pressure is equal to or greater than the first threshold value, the abnormality determination unit determines that there is a foreign object in the communication path. An abnormality detection device.

3. The abnormality detection device according to claim 2, wherein when the first vacuum pressure is equal to or greater than the first threshold value, the abnormality determination unit determines that a filter (30) provided at a portion between the suction portion and the vacuum pressure sensor in the communication path is clogged by the foreign object. An abnormality detection device.

4. The abnormality detection device according to claim 1, wherein when a second vacuum pressure (VP2), which is the vacuum pressure in the communication path when the vacuum pressure is applied from the vacuum source to the communication path and the object to be suctioned is suctioned by the suction portion, is equal to or less than a predetermined second threshold value (TH2), the abnormality determination unit determines that there is an abnormality. An abnormality detection device.

5. The abnormality detection device according to claim 1, further including a notification control unit (50) that executes control for notifying that there is an abnormality when the abnormality determination unit determines that there is an abnormality. An abnormality detection device.

6. A suction device (12) including the abnormality detection device according to any one of claims 1 to 5.

7. An abnormality detection method for detecting an abnormality of a suction device (12) that sucks an object to be sucked by a vacuum pressure, wherein the suction device includes: a communication path (20) connected to a vacuum source (14) that generates the vacuum pressure; a suction portion (26) capable of sucking the object to be sucked using the vacuum pressure applied from the vacuum source through the communication path; and a vacuum pressure sensor (28) that outputs a detection signal corresponding to the vacuum pressure in the communication path. The method includes: an information acquisition step (S3) of acquiring information indicating the vacuum pressure in the communication path based on the detection signal; and an abnormality determination step (S4) of determining that there is an abnormality when a first vacuum pressure (VP1), which is the vacuum pressure in the communication path when the vacuum pressure is applied from the vacuum source to the communication path and the object to be sucked is not sucked by the suction portion, is equal to or greater than a predetermined first threshold value (TH1).

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