JP7251384B2 - Information processing device, control program, and determination method for abnormality determination - Google Patents

Description

The present invention relates to an information processing device, control program, and determination method for abnormality determination.

As a technique for judging an abnormality of a device including a moving mechanism that is operated by an air cylinder and moves in a direction different from the movement direction of the rod of the air cylinder, a method using the maximum displacement speed of the cylinder is known as a conventional technique. It is known (Patent Document 1).

Japanese Patent Application Laid-Open No. 2003-80526 (published on March 19, 2003)

However, the conventional technology as described above has a problem that it may erroneously detect a speed change when the supply air pressure fluctuates as an abnormality.

One aspect of the present disclosure has been made in view of the above problem, and aims to improve the accuracy of abnormality determination regarding a device including a moving mechanism.

The present disclosure employs the following configurations in order to solve the above-described problems.

That is, an information processing device according to one aspect of the present disclosure is an information processing device that detects an abnormality in an air hand chuck, is operated by an air cylinder, and moves in a direction different from the movement direction of a rod of the air cylinder. An information processing device for determining an abnormality of a device including a moving mechanism, wherein the information on the rod includes the dispersion of the velocity of the rod, the dispersion of the acceleration of the rod, the minimum value of the acceleration of the rod, and the acceleration of the rod an information acquisition unit that acquires information on at least one of a difference between a maximum value and a minimum value of , and an abnormality determination unit that determines an abnormality in the moving mechanism based on the information.

According to this configuration, the information processing device improves the accuracy of abnormality determination.

In the information processing apparatus according to one aspect of the present disclosure, the abnormality determination unit determines that the movement mechanism is abnormal when the dispersion of the speed of the rod is equal to or greater than a first threshold.

According to this configuration, the information processing device can determine an abnormality of the air hand chuck from the dispersion of the speed of the rod and report it.

In the information processing apparatus according to one aspect of the present disclosure, the abnormality determination unit determines that the moving mechanism is abnormal when dispersion of acceleration of the rod is equal to or greater than a second threshold.

According to this configuration, the information processing device can determine an abnormality of the air hand chuck from the dispersion of the acceleration of the rod and notify the user.

In the information processing device according to one aspect of the present disclosure, the abnormality determination unit determines whether the minimum value of the acceleration of the rod is less than a third threshold during a part of the period from the start of movement of the rod to the stop of movement of the rod. If so, it is determined that the movement mechanism is abnormal.

According to this configuration, the information processing device can determine an abnormality of the air hand chuck from the minimum value of the acceleration of the rod during a partial period from the start of movement of the rod to the stop of movement of the rod, and notify the abnormality.

In the information processing device according to one aspect of the present disclosure, the abnormality determination unit determines that the absolute value of the difference between the maximum value and the minimum value of the acceleration of the rod is equal to or greater than a fourth threshold or a fifth threshold smaller than the fourth threshold. If it is less than that, it is determined that the movement mechanism is abnormal.

According to this configuration, the information processing device detects an abnormality of the air hand chuck from the absolute value of the difference between the maximum value and the minimum value of the acceleration of the rod during a part of the period from the start of movement of the rod to the stop of movement of the rod. It is possible to judge and report.

The information processing device according to each aspect of the present disclosure may be realized by a computer. In this case, the information processing device is implemented by the computer by operating the computer as each part (software element) included in the information processing device. A control program for an information processing apparatus realized by a computer, and a computer-readable recording medium recording it are also included in the scope of the present disclosure.

According to one aspect of the present disclosure, it is possible to improve the accuracy of abnormality determination regarding a device including a moving mechanism.

1 is a conceptual diagram of an air hand chuck that is an example of one aspect of the present disclosure; FIG. 1 is a block diagram of an air hand chuck and an information processing device as an example of one aspect of the present disclosure; FIG. FIG. 10 is a flowchart of a processing example 1 of an operation example according to the present disclosure; FIG. FIG. 11 is a flowchart of a processing example 2 of an operation example according to the present disclosure; FIG. FIG. 11 is a flowchart of a processing example 3 of an operation example according to the present disclosure; FIG. FIG. 11 is a flowchart of a processing example 4 of an operation example according to the present disclosure; FIG. FIG. 5 is a diagram showing an example of waveforms of displacement, velocity, and acceleration of the motion of the rod according to the present disclosure (at normal time); FIG. 5 is a diagram showing an example of waveforms of displacement, velocity, and acceleration of the motion of the rod according to the present disclosure (at the time of abnormality);

Hereinafter, an embodiment (hereinafter also referred to as "this embodiment") according to one aspect of the present invention will be described based on the drawings.

§1 Configuration example (Configuration of anomaly determination system)
FIG. 2 is a block diagram illustrating an air hand chuck and an information processing device. The abnormality determination system includes an air hand chuck 1 and an information processing device 2 .

In the present disclosure, an air hand chuck is described as an example of a device that is operated by an air cylinder and includes a moving mechanism that moves in a direction different from the moving direction of a rod of the air cylinder.

(Air hand chuck 1)
FIG. 1 is a conceptual diagram of an air hand chuck 1. FIG.

The air hand chuck 1 has an air cylinder 11 and a moving mechanism 12 . In the present disclosure, the air hand chuck 1 is used as an example, but the embodiment of the present disclosure operates by the air cylinder 11 and applies to all devices including a moving mechanism that moves in a direction different from the moving direction of the rod 1122 of the air cylinder 11. Applicable.

The air cylinder 11 has a sensor (not shown) and a cylinder 112 .

The sensor 111 acquires information inside the cylinder 112 and transmits the acquired information to the information acquisition unit 211 . As an example, the sensor 111 acquires information regarding the position of the rod 1122 at each time. More specifically, sensor 111 detects movement of piston 1121 or rod 1122 inside cylinder 112 , collects positional information, and transmits the collected information to information acquisition unit 211 . The sensor 111 may be built in the cylinder 112 or may be installed outside the cylinder 112 .

Cylinder 112 comprises piston 1121 and rod 1122 .

The piston 1121 is a plug-like member slidably arranged inside the cylinder 112 , and a rod 1122 is connected to one end of the piston 1121 . Inside the cylinder 112 , the piston 1121 slides inside the cylinder 112 according to the difference in gas pressure between the internal regions of the cylinder 112 facing each other with the piston 1121 interposed therebetween.

One end of the rod 1122 is connected to the piston 1121 . The other end is connected to the moving mechanism 12 and operates the moving mechanism 12 according to the sliding motion of the piston 1121 .

(Moving mechanism 12)
The moving mechanism 12 has two levers 122 , a linear guide 121 and two claws 123 .

The linear guide 121 guides the two claws 123 so that the two claws 123 can move linearly.

The lever 122 is a component for translating a claw 123, which will be described later, and has an L shape. Lever 122 is rotatable around a rotation axis. The lever 122 converts linear power transmitted from the rod 1122 of the air cylinder 11 into rotational power. The converted power is transmitted from the lever 122 to the pawl 123 and converted into linear motion power in the pawl 123 . In this way, linear movement by rod 1122 of the air cylinder is converted into linear movement in different directions at pawl 123 . A concave portion 123A formed at the root of the claw 123 accommodates the other end 122A of the lever 122 which is different from the one end connected to the rod 1122 .

The claw 123 is a portion that receives power from the lever 122 and grips an object. The two claws 123 move linearly in a direction different from that of the air cylinder and work to grip the object. The claw 123 is a member that may be worn or deteriorated, which is one of the causes of abnormalities described later. This is because the claws 123 are likely to be worn or deteriorated because they are in direct contact with the object with linear motion.

There are no particular conditions for the material of the parts provided in the moving mechanism 12 as long as it is a solid object that satisfies the function, but it is preferably a metal material.

(Configuration of information processing device)
The information processing device 2 includes a control section 21 , a storage section 22 and a display device 23 . An air hand chuck 1 is connected to the information processing device 2 .

The control unit 21 includes an information acquisition unit 211 , an abnormality determination unit 212 and a notification unit 213 .

The information acquisition unit 211 acquires information obtained from the sensor 111 of the air cylinder 11 . The information acquisition unit 211 acquires from the acquired information at least one of the variance of the velocity of the rod 1122, the variance of the acceleration of the rod 1122, the minimum value of the acceleration of the rod 1122, and the difference between the maximum value and the minimum value of the acceleration of the rod 1122. Get information. After that, the information acquisition unit 211 acquires at least one of the variance of the velocity of the rod 1122, the variance of the acceleration of the rod 1122, the minimum value of the acceleration of the rod 1122, and the difference between the maximum value and the minimum value of the acceleration of the rod 1122. It is transmitted to the abnormality determination unit 212 .

The abnormality determination unit 212 receives information from the information acquisition unit 211 . The abnormality determination unit 212 determines whether the air hand chuck 1 is abnormal from the received information, and if abnormal, transmits the information to the notification unit 213 . The abnormality determination unit 212 refers to the threshold value stored in the storage unit 22 and uses it for determination.

The notification unit 213 notifies the display device 23 of the information received from the abnormality information determination unit 212 . The notification unit 213 may add information on the time of occurrence of the abnormality and the location of the abnormality to the information to be notified to the display device 23 .

The display device 23 displays information notified by the notification unit 213 . The display device 23 notifies the information about the abnormality received from the abnormality determination unit 212 to the outside. The method of notification to the outside does not matter as long as it is a method for notifying the user of the device according to the present disclosure and other people. The information displayed by the display device 23 is not limited to visual information and auditory information, and may be a combination of both. The display device 23 is not limited to displaying an abnormality of the air hand chuck 1, and may display information including information on an abnormality occurrence time and an abnormality occurrence location.

(storage unit 22)
The storage unit 22 is a storage device that stores various data used by the abnormality determination unit 212 . In the present disclosure, items necessary for abnormality determination and threshold information associated with these items are input in advance to the storage unit 22 .

Note that the storage unit 22 stores (1) a control program executed by the abnormality determination unit 212, (2) an OS
A program, (3) an application program for executing various functions of the abnormality determination unit 212, and (4) various data read when executing the application program may be stored non-temporarily. The above data (1) to (4) are, for example, R
OM (read only memory), flash memory, EPROM (Erasable Programmable RO
M), EEPROM (registered trademark) (Electrically EPROM), and HDD (Hard Disc Drive). Abnormality determination unit 212 may include a temporary storage unit (not shown). The temporary storage unit is a so-called working memory that temporarily stores data used for calculation, calculation results, etc. in the process of various processes executed by the abnormality determination unit 212.
It is composed of a volatile memory such as M (Random Access Memory). Which data is stored in which storage device depends on the purpose of use, convenience, cost, or
It is appropriately determined based on physical restrictions and the like.

(Abnormal cause)
A state in which the linear guide 121 is abnormal is caused, for example, by wear of the lever 122 and the pawl 123 included in the moving mechanism 12 . The lever 122 and the pawl 123 are connected to each other and make contact. Multiple sliding movements between the two parts, lever 122 and pawl 123, cause wear in the connection. The connecting portion is constituted by the end 122A of the lever and the recess 123A of the pawl. The sliding movement causes wear on the lever end 122A and pawl recess 123A. The end portion 122A of the lever and the recessed portion 123A of the pawl are scraped off due to wear, creating a space where there was originally no space. This newly created space increases the play (gap) between the lever end 122A and the pawl recess 123A. This creates a state in which the linear guide 121 is abnormal.

Moreover, the state in which the claw 123 is abnormal is caused by the claw 123 included in the moving mechanism 12 . The claws 123 are worn or deteriorated depending on the gripped object and aging. These wears and deteriorations create a state in which the moving mechanism 12 is abnormal.

The information processing apparatus 2 of the present disclosure has an operational effect that can determine whether the linear guide 121 or the claw 123 has an abnormality when the air hand chuck 1 has an abnormality. If there is an abnormality in the linear guide 121, the abnormality can be determined from the feature value obtained from the rod information described later. If there is an abnormality in the claw 123, the abnormality can be determined by measuring the displacement of the rod. can.

(Abnormality judgment and threshold)
The abnormality determination and threshold in the present disclosure are as follows.

(Abnormal judgment)
The abnormality determination unit 212 compares the received information regarding the speed of the rod 1122 with the information regarding the threshold referenced from the storage unit 22 . For example, in a processing example 1 to be described later, the abnormality determination unit 212 compares the variance of the speed of the rod 1122 received from the information acquisition unit 211 with the threshold value related to the variance of the speed of the rod stored in the storage unit 22 . As a result of the comparison, if the dispersion of the speed of the rod 1122 is equal to or greater than the first threshold, the abnormality determination unit 212 determines that the air hand chuck 1 is abnormal.

The same applies to other processing examples, and the abnormality determination unit 212 compares the feature amount obtained from the rod information with the corresponding threshold value to determine abnormality of the moving mechanism.

(threshold)
As an example, a threshold value is used for abnormality determination in the present disclosure. Information about this threshold is stored in the storage unit 22 . The abnormality determination unit 212 appropriately refers to the information regarding the threshold from the storage unit 22 . The information on the threshold is associated with items used for abnormality determination. For example, in a processing example 1 to be described later, when the abnormality determination unit 212 performs abnormality determination based on the velocity variance, it refers to the information about the threshold associated with the "velocity variance". In this case, "referring to the threshold information" refers to referencing the threshold in the item of the information about the "velocity variance". The anomaly determination unit 212 searches for an item in “velocity dispersion” and refers to the threshold value associated with the item from the storage unit 22 .

The threshold value may be set by the user according to the dynamic range of the acquired sensor value, or may be automatically set by the abnormality determination unit 212. The same applies to other processing examples.

§2 Operation example (Process flow)
(Operation of Detailed Information Acquisition Unit)
From the information received from the sensor 111, the information acquisition unit 211 obtains at least the variance of the velocity of the rod 1122, the variance of the acceleration of the rod 1122, the minimum value of the acceleration of the rod 1122, and the difference between the maximum value and the minimum value of the acceleration of the rod 1122. Acquire any information (feature amount).

The information received from the sensor 111 is information during the period from when the air hand chuck 1 starts moving until it finishes moving. This information is mainly the positional information of the rod 1122 and is related to the displacement of the rod 1122 . The information acquisition unit 211 acquires information on velocity or acceleration from the information on the displacement of the rod 1122 by differentiating the displacement. After that, the information acquisition unit 211 obtains, from the information about the speed or the acceleration, the distribution of the speed of the rod 1122, the distribution of the acceleration of the rod 1122, the distribution of the acceleration of the rod 1122, and the Obtain the minimum value of the acceleration of the rod 1122 or the absolute value of the difference between the maximum and minimum values of the acceleration of the rod 1122 .

Alternatively, the speed may be calculated by the sensor 111 and the information acquisition unit 211 may receive speed information from the sensor 111 . Alternatively, the sensor 111 may calculate information such as speed variance from the speed, and the information acquisition unit 211 may receive information (feature amount) such as speed variance from the sensor.

(Method of judging the partial period from the start of movement to the end of movement)
Determination of the partial period from the start of movement of the rod 1122 to the stop of movement is made by referring to the rod information in the subframe section. A subframe period is a part of the period from when the rod 1122 starts to move to when the sensor 111 stops moving, which is specified according to a method described later. The subframe section is set in advance by the user and set in the information acquisition unit 211 .

An example of a method for determining the sub-frame section is to take a period from when the rod 1122 starts to move until it stops moving, from when the speed starts to increase until just before it slows down. In the sub-frame section according to this method, the information acquiring unit 211 acquires information from the displacement information of the rod 1122 from the start of the speed increase to immediately before the start of the descent, and obtains the dispersion of the speed of the rod 1122 .

FIG. 7 is a diagram showing an example of waveforms of displacement, velocity, and acceleration (in normal times) of the motion of the rod.

FIG. 8 is a diagram showing an example of waveforms of displacement, velocity, and acceleration of rod operation (at the time of abnormality).

The horizontal axes in FIGS. 7 and 8 represent time, and the vertical axes represent the displacement, velocity, and acceleration of the rod. A scale is attached to the horizontal axis, but this scale is a relative value to the displacement of the rod and does not have a specific unit. This scale indicates a relative numerical value of a certain period from the start of movement of the air hand chuck 1 to the stop of movement.

Section A in FIGS. 7 and 8 is an example of a subframe section.

Intervals A in FIGS. 7 and 8 are set to have the same length. This is because the subframe section for abnormality determination is usually set in advance, so the length and start time of section A are changed in the middle of the determination in the time period before determining whether it is normal or abnormal. Because you can't.

Section B in FIGS. 7 and 8 is the same.

When determining the presence or absence of an abnormality using the variance of the rod velocity, the user sets subframe intervals in advance such that, for example, the peak of the rod velocity and the constant velocity motion interval are included in the subframe interval (segment A). do. In this case, it is preferable that the subframe section does not include the period immediately before the rod stops, during which the speed of the rod is decelerated. Also, it is preferable that the subframe section does not include the period immediately after the rod starts moving. Also, the setting of the subframe section by this method may be applied to other processing examples.

Section B in FIGS. 7 and 8 is another example of a subframe section. When determining the presence or absence of an abnormality using the feature value of the rod acceleration (minimum value, variance, or difference between the maximum and minimum values), for example, after the first peak of the rod acceleration, the acceleration immediately before stopping The user sets the subframe section in advance so that the period before the negative peak of is included in the subframe section (section B). In this case, the subframe interval preferably does not include the first peak of rod acceleration and the negative peak of acceleration just before stopping. For example, the user can select subframe You can set intervals.

The method of setting the sub-frame section of section B in FIGS. 7 and 8 starts from the time when the acceleration becomes 0 after the acceleration records the maximum value under normal conditions, and immediately before the acceleration records the minimum value. It is a method of ending the time when becomes 0. This method compares the acceleration variance in a normal subframe interval with the acceleration variance in the same subframe interval in an abnormal condition. Intervals B in FIGS. 7 and 8 are set to have the same length as described above. The setting of the subframe section by this method may be applied to other processing examples.

The information in the sub-frame period acquired by the information acquisition unit 211 is transmitted to the abnormality determination unit 212 in the same manner as the information from the start of movement of the rod 1122 to the stop of movement.

Also, the method of determining the subframe section is not limited to the two methods described above, and other methods may be used. The subframe section may be determined by the information acquisition unit 211 according to conditions, or may be determined separately by the user. Also, the two methods described above may be used in any of Processing Examples 1 to 4, which will be described later.

(Velocity dispersion of rod 1122)
Acquisition of information on the dispersion of the velocity of the rod 1122 by the information acquisition unit 211 may be performed in the subframe section as described above, or may be performed in the entire section from the movement start to the movement stop of the rod 1122 . Further, the operation of the rod 1122 from the start of movement of the rod 1122 to the stop of movement includes not only the opening operation but also the closing operation. It also includes an operation that combines an opening operation and a closing operation. The velocity variance of the rods 1122 is determined by the velocity variation of the rods 1122 . The greater the variation in the velocity of the rod 1122, the greater the value of the variance, and the smaller the variation in the velocity of the rod 1122, the smaller the value of the variance. When the air hand chuck 1 has an abnormality (large play), the velocity dispersion value tends to be larger than when it is normal. Also, the velocity dispersion value is always a positive number of 0 or more.

(Distribution of Acceleration of Rod 1122)
Acquisition of information on the dispersion of acceleration of the rod 1122 by the information acquisition unit 211 may be performed in the above-described sub-frame section, or may be performed in the entire section from the movement start to the movement stop of the rod 1122 . Also, the movement of the rod 1122 from the start of movement of the rod 1122 to the stop of movement includes not only the opening movement but also the closing movement. It also includes an operation that combines an opening operation and a closing operation. The distribution of acceleration of rod 1122 is determined by the variation in acceleration of rod 1122 . The greater the variation in the acceleration of the rod 1122, the greater the value of the variance, and the smaller the variation in the acceleration of the rod 1122, the smaller the value of the variance. Also, the value of the dispersion of acceleration is always a positive number of 0 or more.

(Minimum value of acceleration of rod 1122)
Acquisition of information on the minimum value of the acceleration of the rod 1122 by the information acquisition unit 211 is performed in the above-described subframe section. Further, the operation of the rod 1122 from the start of movement of the rod 1122 to the stop of movement includes not only the opening operation but also the closing operation. It also includes an operation that combines an opening operation and a closing operation. When the lever end 122A and the claw recess 123A are connected, the reaction force is greater in the abnormal state than in the normal state, so the acceleration of the rod 1122 after collision is lower in the abnormal state than in the normal state.

Here, the positive acceleration is the acceleration when the rod accelerates in the moving direction of the rod, and the negative acceleration is the acceleration when the rod decelerates in the moving direction of the rod.

(absolute value of difference between maximum and minimum values of acceleration of rod 1122)
Acquisition of the absolute value of the difference between the maximum value and the minimum value of the acceleration of the rod 1122 by the information acquisition unit 211 is performed in the above-described subframe section. Further, the operation of the rod 1122 from the start of movement of the rod 1122 to the stop of movement includes not only the opening operation but also the closing operation. It also includes an operation combining an opening operation and a closing operation. The absolute value of the difference between the maximum value and the minimum value of acceleration is always a positive number of 0 or more.

(Operation of Detailed Information Determination Unit 212)
The information determination unit 212 receives the information of the rod 1122 transmitted from the information acquisition unit, and determines whether the moving mechanism 12 has an abnormality. As a determination method, the threshold information stored in the storage unit 22 is referred to, and the received information about the rod 1122 is compared to determine the magnitude of the numerical value. If the result of the comparison is normal or abnormal, the abnormality determination unit 212 operates according to the flowcharts shown in FIGS.

(Concrete example)
(Processing example 1 of operation example)
In the following, an embodiment according to one aspect of the present disclosure will be described with reference to FIG. 3 regarding the flow of processing for abnormality determination of the moving mechanism 12 by the information processing device 2 and notification of the determination result.

FIG. 3 is a flow chart showing the flow of processing for determining abnormality of the air hand chuck 1 by the information processing device 2 and notifying the result of the determination in the first processing example.

First, the sensor 111 acquires information about the position of the rod 1122, transmits the acquired information to the information acquisition unit 211 of the control unit 21, and proceeds to step S102 (step S101).

Next, the information acquisition unit 211 receives the information acquired by the sensor 410, acquires the information on the velocity dispersion of the rod 1122 from the received information, transmits it to the abnormality determination unit 212, and proceeds to step S103 (step S102). ).

Then, the abnormality determination unit 212 determines whether the speed variance exceeds the first threshold based on the information received from the information acquisition unit 211 in step S102. The abnormality determination unit 212 refers to information about the first threshold from the storage unit 22 and uses the referenced information for abnormality determination. If the first threshold is exceeded, the process proceeds to step S104, and if not exceeded, the process returns to step S101 (step S103). This step S103 may be performed by referring to the information of the subframe section which is the section A shown in FIGS.

The notification unit 213 notifies the display device 23 that there is an abnormality in the air hand chuck 1 (step S104).

Note that steps S101 to S103 are performed every predetermined period (for example, one minute or the operating cycle of the air hand chuck 1).

As shown in section A in FIGS. 7 and 8, it can be seen that the variance of the speed in section A is greater in the abnormal state than in the normal state.

Therefore, according to the processing example described above, it is possible to suitably perform the abnormality determination. The information processing device 2 performs abnormality determination by utilizing the fact that the speed of the rod fluctuates when an abnormality occurs. Therefore, it is less susceptible to the influence of fluctuations in the air pressure supplied to the air hand chuck 1 or the fluctuations in the width of the gripped work than in the case of making an abnormality determination based on the gripping time or the speed of the rod. . Therefore, the information processing device 2 is less likely to make an erroneous determination and can accurately determine the presence or absence of an abnormality.

(Processing example 2 of operation example)
Processing example 2 will be described below with reference to FIG. For convenience of explanation, members having the same functions as the members explained in the above processing example are denoted by the same reference numerals, and the explanation thereof will not be repeated.

FIG. 4 is a flow chart showing the flow of processing for abnormality determination of the air hand chuck 1 by the information processing apparatus 2 according to the present embodiment.

First, the sensor 111 acquires information about the position of the cylinder 112, transmits the acquired information to the information acquisition section 211 of the control section 21, and proceeds to step S202 (step S201).

Next, the information acquisition unit 211 receives the information acquired by the sensor 111, acquires information on the dispersion of the acceleration of the rod 1122 from the received information, transmits it to the abnormality determination unit 212, and proceeds to step S203 (step S202).

Then, the abnormality determination unit 212 determines whether the dispersion of acceleration exceeds the second threshold based on the information received from the information acquisition unit 211 in step S202. The abnormality determination unit 212 refers to the information about the second threshold from the storage unit 22 and uses the referred information for abnormality determination. If the second threshold is exceeded, the process proceeds to step S204, and if not exceeded, the process returns to step S201 (step S203). This step S203 may be performed by referring to the information of the subframe section which is the section B shown in FIGS.

The notification unit 213 notifies the display device 23 that there is an abnormality in the air hand chuck 1 (step S204).

Note that steps S201 to S204 are performed every predetermined period (for example, one minute).

As shown in section B in FIGS. 7 and 8, it can be seen that the dispersion of acceleration in section B is greater in the abnormal state than in the normal state. This is because the gap (play) between the end 122A of the lever and the concave portion 123A of the pawl is increased. When the rod 1122 is initially accelerating, the lever end 122A is displaced out of contact with the pawl recess 123A. Thereafter, the end 122A of the lever moved by the rod 1122 hits the inner wall of the pawl recess 123A. This decelerates the rod 1122 (acceleration becomes negative). When the gap (play) between the end 122A of the lever and the concave portion 123A of the pawl increases, the acceleration until collision also increases, and the degree of deceleration (the absolute value of the minimum value of acceleration) also increases. As a result, the variation in acceleration after collision also increases.

Therefore, according to the processing example described above, it is possible to suitably perform the abnormality determination. The information processing device 2 uses the fact that the acceleration of the rod fluctuates at the time of abnormality to perform abnormality determination. Therefore, it is less susceptible to the influence of fluctuations in the air pressure supplied to the air hand chuck 1 or the fluctuations in the width of the gripped work than in the case of making an abnormality determination based on the gripping time or the speed of the rod. . Therefore, the information processing device 2 is less likely to make an erroneous determination and can accurately determine the presence or absence of an abnormality.

(Processing example 3 of operation example)
Processing example 3 will be described below with reference to FIG. For convenience of explanation, members having the same functions as the members explained in the above processing example are denoted by the same reference numerals, and the explanation thereof will not be repeated.

FIG. 5 is a flow chart showing the flow of processing for abnormality determination of the air hand chuck 1 by the information processing apparatus 2 according to the present embodiment.

First, the sensor 111 acquires information about the position of the rod 1122, transmits the acquired information to the information acquisition unit 211 of the control unit 21, and proceeds to step S302 (step S301).

Next, the information acquisition unit 211 receives the information acquired by the sensor 111, and acquires information about the minimum value of the acceleration of the rod 1122 during a part of the period from the start of movement of the rod 1122 to the stop of movement. , to the abnormality determination unit 212, and the process proceeds to step S303 (step S302).

Then, the abnormality determination unit 212 determines whether the minimum acceleration value exceeds the third threshold based on the information received from the information acquisition unit 211 in step S302. The abnormality determination unit 212 refers to information about the third threshold from the storage unit 22 and uses the referred information for abnormality determination. If the third threshold is exceeded, the process proceeds to step S304, and if not exceeded, the process returns to step S301 (step S303).

Further, the abnormality determination unit 212 determines whether the minimum value of acceleration is below the third threshold based on the information acquired by the information acquisition unit 211 in step S302. If it is below the third threshold, the process proceeds to step S304, and if not below, the process returns to step S301 (step S303).

The notification unit 213 notifies the display device 23 that there is an abnormality in the air hand chuck 1 (step S304).

Note that steps S301 to S304 are performed every predetermined period (for example, one minute).

A circle C in FIGS. 7 and 8 is an example showing the minimum value of the acceleration in the third processing example. A circle C encloses the minimum value referred to when setting the subframe section.

In the processing example 3, the abnormality determination may be performed by determining the subframe section by another method. Further, in processing example 3, the abnormality determination may be performed in the interval from when the air hand chuck 1 starts moving until it stops moving.

When the circles C in FIGS. 7 and 8 are compared, it can be seen that the minimum value of acceleration is smaller in the negative direction in the circle C in FIG. 8, which is an example of processing in abnormal conditions. Therefore, according to the processing example described above, it is possible to suitably perform the abnormality determination.

(Processing example 4 of operation example)
Processing example 4 will be described below with reference to FIG. For convenience of explanation, members having the same functions as the members explained in the above processing example are denoted by the same reference numerals, and the explanation thereof will not be repeated.

FIG. 6 is a flow chart showing a flow of processing for abnormality determination of the air hand chuck 1 by the information processing apparatus 2 according to this processing example.

The sensor 111 acquires information about the position of the rod 1122, transmits the acquired information to the information acquisition unit 211 of the control unit 21, and proceeds to step S402 (step S401).

Next, the information acquisition unit 211 receives the information acquired by the sensor 111, acquires the absolute value of the difference between the maximum value and the minimum value of the acceleration of the rod 1122 therefrom, and transmits the absolute value to the abnormality determination unit 212. Step S403 (step S402).

Based on the information received from the information acquisition unit 211 in step S402, the abnormality determination unit 212 determines that the absolute value of the difference between the maximum value and the minimum value of acceleration is equal to or greater than the fourth threshold value, or the fifth value smaller than the fourth threshold value. Determine whether it is less than the threshold. The abnormality determination unit 212 refers to the information about the fourth threshold and the fifth threshold from the storage unit 22 and uses the referred information for abnormality determination. If the above conditions are met, the process proceeds to step S404, and if the above conditions are not met, the process returns to step S401. (Step S403).

The notification unit 213 notifies the display device 23 that there is an abnormality in the air hand chuck 1 (step S404).

Note that steps S401 to S404 are performed every predetermined period (for example, one minute).

Absolute value D in FIGS. 7 and 8 is an example showing the absolute value of the difference between the acceleration in processing example 4 and the minimum value. The absolute value D represents the absolute value of the difference between the maximum and minimum values used to set the subframe period.

In the processing example 4, the abnormality determination may be performed even if the subframe section is determined separately. Further, in processing example 4, the abnormality determination may be performed in the interval from when the air hand chuck 1 starts to move until it stops moving.

As for the relationship between the fourth threshold and the fifth threshold, the fourth threshold is greater than the fifth threshold. If the absolute value of the difference between the maximum value and the minimum value of the acceleration of the rod 1122 is equal to or greater than the fourth threshold, an abnormality due to backlash has occurred. Further, when the value is less than the fifth threshold, which is smaller than the fourth threshold, the absolute value of the difference between the maximum value and the minimum value of the acceleration of the rod 1122 may be extremely small. In that case, it indicates that the absolute value of the difference between the maximum value and the minimum value of acceleration approaches 0, and the rod 1122 itself may be uniformly accelerating. Uniformly accelerated motion in the sub-frame interval may indicate that an anomaly is occurring if the rod 1122 is not moving. Therefore, one of the conditions for abnormality determination includes the case where the absolute value of the difference between the maximum value and the minimum value of the acceleration of the rod 1122 is less than the fifth threshold, which is smaller than the fourth threshold.

When the absolute values D in FIGS. 7 and 8 are compared, it can be seen that the absolute value D in FIG. 8, which is an example of abnormal processing, has a larger absolute value of the difference between the maximum value and the minimum value of acceleration.

Therefore, according to the processing example described above, it is possible to suitably perform the abnormality determination.

[Example of realization by software]
The control unit 21 of the information processing device 2 may be implemented by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be implemented by software.

In the latter case, the information processing device 2 is provided with a computer that executes instructions of a program, which is software that implements each function. This computer includes, for example, one or more processors, and a computer-readable recording medium storing the program. In the computer, the processor reads the program from the recording medium and executes it, thereby achieving the object of the present disclosure. As the processor, for example, a CPU (Central Processing Unit) can be used.
As the recording medium, a "non-temporary tangible medium" such as a ROM (Read Only Memory), a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. In addition, a RAM (Random Access Memory) for developing the above program may be further provided. Also, the program may be supplied to the computer via any transmission medium (communication network, broadcast wave, etc.) capable of transmitting the program. Note that one aspect of the present disclosure can also be implemented in the form of a data signal embedded in a carrier wave, in which the program is embodied by electronic transmission.

[Example of realization by judgment method]
A determination method according to an operation example of the present disclosure is a determination method for determining an abnormality of a moving mechanism that is operated by an air cylinder and moves in a direction different from a moving direction of a rod of the air cylinder, wherein information about the rod is as an information acquisition step of acquiring at least one of the variance of the velocity of the rod, the variance of the acceleration of the rod, the minimum value of the acceleration of the rod, and the difference between the maximum value and the minimum value of the acceleration of the rod and an abnormality determination step of determining an abnormality of the moving mechanism based on the information.

The present disclosure is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments is also included in the technical scope of the present disclosure.

1 Air Hand Chuck 2 Information Processing Device 11 Air Cylinder 12 Moving Mechanism 21 Control Part 22 Storage Part 23 Display Device 111 Sensor 112 Cylinder 121 Linear Guide 122 Lever 122A Lever End 123 Claw 123A Claw Concave 211 Information Acquisition Part 212 Abnormality Determination Part 213 Notification unit 1121 Piston 1122 Rod

Claims (7)

An information processing device for determining abnormality of a device including a moving mechanism that is operated by an air cylinder and moves in a direction different from the moving direction of a rod of the air cylinder,
As the information of the rod,
dispersion of the velocity of said rod;
dispersion of acceleration of said rod;
an information acquisition unit that acquires information on at least one of a minimum value of the acceleration of the rod and a difference between the maximum value and the minimum value of the acceleration of the rod;
an abnormality determination unit that determines an abnormality of the moving mechanism based on the information. 2. The information processing apparatus according to claim 1, wherein the abnormality determination unit determines that the movement mechanism is abnormal when the dispersion of the speed of the rod is equal to or greater than a first threshold. 2. The information processing apparatus according to claim 1, wherein the abnormality determination unit determines that the movement mechanism is abnormal when dispersion of acceleration of the rod is equal to or greater than a second threshold. The abnormality determination unit determines that the moving mechanism is abnormal if the minimum value of the acceleration of the rod is less than a third threshold during a part of the period from the start of movement of the rod to the stop of movement of the rod. The information processing apparatus according to claim 1, characterized by: If the absolute value of the difference between the maximum value and the minimum value of the acceleration of the rod is equal to or greater than a fourth threshold value or less than a fifth threshold value smaller than the fourth threshold value, the abnormality determination unit determines that the movement mechanism is abnormal. 2. The information processing apparatus according to claim 1, wherein the determination is as follows. A control program for causing the information processing apparatus according to any one of claims 1 to 5 to function, the control program for causing the information processing apparatus to function as the information acquisition section and the abnormality determination section. A determination method for determining abnormality of a moving mechanism that is operated by an air cylinder and moves in a direction different from the moving direction of a rod of the air cylinder,
As the information of the rod,
dispersion of the velocity of said rod;
dispersion of acceleration of said rod;
an information acquisition step of acquiring information on at least one of a minimum value of the acceleration of the rod and a difference between the maximum value and the minimum value of the acceleration of the rod;
and an abnormality determination step of determining abnormality of the moving mechanism based on the information.

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