Patent ID: 11931904
Assignee: NISSAN MOTOR CO., LTD.
Field: Handling (Mechanical engineering)
Classification: CPC B  G  Y | IPC B

Claim 0:
1. An abnormality determination apparatus for determining an abnormality of a work equipment comprising an arm driven by a motor driving system and provided with an attaching part to which a plural kinds of work parts are attached in a replaceable manner, the apparatus comprising:
a controller that acquires state data from the work equipment indicating a state of the work equipment and determines an abnormality of the work equipment, wherein the controller:
acquires, as the state data, data on a disturbance torque applied to the motor driving system;
identifies a kind of a work part attached to the attaching part;
sets abnormality determination data corresponding to the identified kind of the work part, for determining the abnormality of the work equipment, by using the state data of a time when the identified kind of the work part was attached;
acquires a latest state data of a time when the identified kind of the work part was being attached from among state data acquired from the work equipment; and
compares the acquired latest state data with the set abnormality determination data to determine an abnormality of the work equipment.