Method of determining failure of robot
View Patent ↗A failure of a robot can be determined while a production line is operating by determining when a motor output torque moving average value, which is an average value of N (N is a positive integer) pieces of motor output torque values, exceeds a first failure determination reference value, and an external force torque estimated moving average value, which is an average value of N pieces of external force torque estimated values, exceeds a second failure determination reference value.
1. A method of determining a failure of a robot, comprising:
a step of determining a first failure determination reference value by adding a first given value to a motor output torque moving average reference value, the motor output torque moving average reference value being set when a difference between a motor output torque average value and a first motor output torque moving average value is smaller than a predetermined value at a time;
a step of determining with a failure determination device, while a robot is operating, whether or not a second motor output torque moving average value, which is a moving average value of N (N is a positive integer) pieces of motor output torque average values exceeds the first failure determination reference value;
a step of determining a second failure determination reference value by adding a second given value to an external force torque moving average reference value, the external force torque moving average reference value being set at the time;
a step of determining with failure determination device, while the robot is operating, whether or not an external force torque moving average value, which is a moving average value of N pieces of external force torque average values, exceeds the second failure determination reference value; and
a step of determining the operation of the robot as a failure with the failure determination device if the second motor output torque moving average value exceeds the first failure determination reference value and the external force moving average value exceeds the second failure determination reference value,
wherein each motor output torque average value is the average of a motor output torque value within a unit time preliminarily determined and each external force torque average value is the average of an external force torque estimated value within a unit time preliminarily determined, the motor output torque value and the external force torque estimated value are determined from data obtained by a motor/external force torque unit coupled to the motor and the robot.
2. The method of determining a failure of a robot of claim 1 , wherein, in the step of setting the first motor output torque moving average value, the first motor output torque moving average value is set when a difference between each of NN (NN is a positive integer) pieces of motor output torque average values and the first motor output torque moving average value is smaller than a given value preliminarily determined, as the motor output torque moving average reference value, and the external force torque moving average value is set at this moment as the external force torque moving average reference value.
3. A method of determining a failure of a robot, comprising:
a step of setting a motor output torque moving average reference value when a difference between a motor output torque average value and a first motor output torque moving average value is smaller than a predetermined value at a time;
a step of determining with a failure determination device, while a robot is operating, whether or not the difference between a second motor output torque moving average value, which is moving average value of N (N is a positive integer) pieces of motor output torque average values, and the motor output torque moving average reference value exceeds a first given value;
a step of setting an external force torque moving average reference value at the time;
a step of determining with the failure determination device, while the robot is operating whether or not the difference between an external force torque moving average value, which is a moving average value of N pieces of external force torque average values, and the external force torque moving average reference value exceeds a second given value; and
a step of determining the operation of the robot as a failure with the failure determination device if the difference between the second motor output torque moving average value and the motor output torque moving average reference value exceeds the first given value, and the difference between the external force torque moving average value and the external force torque moving average reference value exceeds the second given value,
wherein each motor output torque average value is the average of a motor output torque value within a unit time preliminarily determined and each external force torque average value is the average of an external force torque estimated value within a unit time preliminarily determined, the motor output torque value and the external force torque estimated value are determined from data obtained by a motor/external force torque unit coupled to the motor and the robot.
4. The method of determining a failure of a robot of claim 3 , wherein, in the step of setting the first motor output torque moving average value, the first motor output torque moving average value is set when a difference between each of NN pieces of motor output torque average values and the first motor output torque moving average value is smaller than a given value preliminarily determined, as the motor output torque moving average reference value, and the external force torque moving average value is set at this moment as the external force torque moving average reference value.