JP2013144325A5

JP2013144325A5 -

Info

Publication number: JP2013144325A5
Application number: JP2012004821A
Authority: JP
Filing date: 2012-01-13
Publication date: 2015-01-15

Claims

A motor having an output shaft and generating rotational power via the output shaft;
A rotation amount sensor for detecting a rotation amount of the output shaft of the motor;
The arm to which the rotational power is transmitted and pivoted by the transmitted rotational power;
An inertial sensor that is provided closer to the arm than the transmission path of the rotational power between the motor and the arm, and detects the operation of the arm;
A control unit for controlling the motor;
An acquisition unit that acquires an output result from the rotation amount sensor and an output result from the inertia sensor when the arm is turned by driving the motor;
A first analysis unit for calculating a first frequency spectrum by performing a spectrum analysis on a transition of the movement of the arm obtained based on the output result from the rotation amount sensor;
A second analysis unit that calculates a second frequency spectrum by performing a spectrum analysis on the transition of the movement of the arm obtained based on the output result from the inertial sensor;
When the difference between the first frequency spectrum and the second frequency spectrum excluding the natural vibration frequency of the arm in a state where the transmission path is connected exceeds an allowable value, it is determined that a failure has occurred. A determination unit;
A robot apparatus characterized by that.

A first motor having a first output shaft and generating rotational power via the first output shaft;
A first rotation amount sensor for detecting a rotation amount of the first output shaft;
A first arm that pivots by the rotational power of the first motor;
A second arm connected to the first arm and pivotable relative to the first arm;
A second motor having a second output shaft and generating rotational power for turning the second arm;
A second rotation amount sensor for detecting a rotation amount of the second output shaft;
An inertial sensor provided on the second arm for detecting the operation of the second arm;
A controller for individually controlling the first motor and the second motor;
When at least one of the first arm and the second arm is rotated by driving at least one of the first motor and the second motor, the first rotation from the first rotation amount sensor is performed. An acquisition unit for acquiring a quantity output result, a second rotation amount output result from the second rotation quantity sensor, and an inertia sensor output result from the inertia sensor;
A first analysis unit for calculating a first frequency spectrum by analyzing a spectrum of a movement of the second arm obtained by combining the first rotation amount output result and the second rotation amount output result;
A second analysis unit for calculating a second frequency spectrum by performing a spectrum analysis on the transition of the operation of the second arm obtained based on the inertial sensor output result;
Regarding the natural vibration frequencies of the first arm and the second arm, postures of the second arm with respect to the first arm are stratified into a plurality of levels, and the natural vibration frequencies corresponding to the stratified postures are set as the natural vibration frequencies. A storage unit storing each posture;
Determining that a failure has occurred when a difference between the first frequency spectrum and the second frequency spectrum excluding the natural vibration frequency corresponding to the posture exceeds an allowable value according to the posture And having a part,
A robot apparatus characterized by that.

The inertial sensor is an angular velocity sensor that detects angular velocity,
The first analysis unit calculates the first frequency spectrum using a change in angular velocity as a change in motion,
The second analysis unit calculates the second frequency spectrum using a change in angular velocity as a change in motion.
The robot apparatus according to claim 1 or 2, wherein

The robot apparatus according to any one of claims 1 to 3, further comprising a notification unit that notifies of a failure based on a determination that a failure has occurred.

Driving the motor of the robot apparatus having an output shaft, and a motor that generates rotational power via the output shaft, and an arm that is rotated by the rotational power to which the rotational power is transmitted. When the arm is swung by
Calculating a first frequency spectrum by spectrally analyzing the transition of the movement of the arm obtained based on the rotation amount of the output shaft;
Spectral analysis is performed on the transition of the movement of the arm obtained based on the result of detecting the movement of the arm with an inertial sensor provided on the arm side of the transmission path of the rotational power between the motor and the arm. To calculate the second frequency spectrum,
Detecting a failure based on a difference between the first frequency spectrum and the second frequency spectrum excluding the natural vibration frequency of the arm in a state where the transmission path is connected exceeds an allowable value;
The fault detection method characterized by the above-mentioned.