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

Claim 12:
13. An abnormality determination method 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, by acquiring state data from the work equipment indicating a state of the work equipment, the method comprising:
acquiring, as the state data, data on a disturbance torque applied to the motor driving system;
identifying the kind of a work part attached to the attaching part;
setting abnormality determination data corresponding to the identified kind of the work part, for determining an abnormality of the work equipment, by using the state data of a time when the identified kind of the work part was attached; and
acquiring 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 comparing the acquired latest state data with the set abnormality determination data to determine an abnormality of the work equipment.