Patent ID: 11931905
Assignee: SEIKO EPSON CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 3:
4. A failure prediction apparatus comprising:
a robot, the robot having:
a robot arm; and
a joint in the robot arm, the joint configured to move the robot arm and having a motor and a reducer; and

a processor configured to be programed to:
control the motor to repeatedly move the robot arm several times to obtain information on vibration characteristics of the robot arm due to movement of the reducer, the information on the vibration characteristics including detection results of an encoder at the joint, detection results of an inertial sensor attached at a distal end of the robot arm, detection results of a force detection sensor disposed at the robot arm, and detection results of a sound collection sensor;
generate a failure prediction model for prediction of the failure of the reducer by machine learning based on the information on the vibration characteristics; and
predict the failure of the reducer based on an estimated value of failure prediction output by the generated failure prediction model when the information on the vibration characteristics is input to the generated failure prediction model,

wherein, when a degree of the vibration characteristics obtained at a current time is equal to or more than a predetermined value and is more than a degree of the vibration characteristics obtained at a previous time, the processor is configured to predict an occurrence of the failure of the reducer.