Robot Arm Abnormality Detection for Replaceable Work Parts
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Solution Overview
Problem
Conventional abnormality detection systems for robot arms fail to accurately determine equipment abnormalities when the work part attached to the robot arm is replaced, due to changes in weight and motion, leading to incorrect assessments.
Innovation Solution
An abnormality determination apparatus that identifies the type of work part attached to the robot arm, sets corresponding abnormality determination data, and compares acquired state data with pre-set data to determine equipment abnormalities, ensuring accurate assessments even with changes in work parts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a work part attached to the robot arm is replaced, then the weight and work motion of the work part change, but the conventional abnormality detection system cannot correctly determine abnormalities due to these changes
Solution Approach 1:
The patent applies dynamics by making the abnormality determination data dynamic and adaptable to different work parts. The system automatically adjusts the determination data based on the identified work part type, allowing the threshold values and parameters to change dynamically rather than remaining fixed. This resolves the contradiction by enabling the system to adapt to different work parts while maintaining accurate abnormality determination for each specific configuration.
Solution Approach 2:
The patent implements parameter changes by modifying the abnormality determination data parameters according to the work part type. When a different work part is attached, the system changes the reference values, threshold parameters, and determination criteria to match the specific characteristics of that work part. This allows accurate abnormality detection across different work parts by adjusting the parameters rather than using fixed thresholds.
2Measurement precision
If abnormality determination data is set for each work part type, then abnormality determination accuracy improves, but the device complexity increases
Solution Approach 1:
The patent applies universality by creating a multi-functional abnormality determination system that can handle multiple work part types through a single unified platform. The system identifies the work part type and automatically selects or generates appropriate determination data, eliminating the need for separate complex systems for each work part. This reduces overall system complexity while maintaining high accuracy for all work part types.
Solution Approach 2:
The patent implements self-service by enabling the system to automatically identify the work part type and generate or select the corresponding abnormality determination data without requiring manual configuration or external intervention. The system serves itself by autonomously adapting to different work parts, which simplifies operation and reduces the complexity of manual data management while maintaining high determination accuracy.
Data Source
AI summary
An abnormality determination apparatus of the present invention acquires state data from work equipment provided with an attaching part to which a plural kinds of work parts are attached in a replaceable manner, identifies the kind of a work part attached to the attaching part, sets, corresponding to the identified kind of the work part, abnormality determination data for determining an abnormality of the work equipment, acquires, from among state data acquired from the work equipment, state data of a time when the identified kind of the work part was being attached, and compares the acquired state data with the set abnormality determination data to determine an abnormality of the work equipment.