Rotation driving apparatus, robot apparatus, control program, and article manufacturing method
AssigneeCanon Kabushiki Kaisha
InventorYutaka Tsuchiya
Life of this patent
Estimating the term…
Abstract
A joint of a robot comprises a servo motor, a speed reducer driven by the servo motor, and an output-side encoder for measuring a rotation angle of the output-side rotation shaft of the speed reducer, and the position/orientation of the robot is controlled by the joint. The present invention, which aims to be able to detect certainly and at a high speed the state of the speed reducer, is characterized by driving the joint via the speed reducer by rotating the servo motor, obtaining a resonance amplitude of the joint from the rotation angle obtained from the output-side encoder, and thus diagnosing the lifetime of the speed reducer according to the obtained resonance amplitude of the joint.
Claims20
A rotation driving apparatus which comprises:
- a rotation driving source configured to drive a joint comprising a first rotation shaft and a second rotation shaft;
- a transmission configured to change a rotation speed of the first rotation shaft driven by the rotation driving source to a rotation speed of the second rotation shaft;
- a sensor provided to obtain a rotation angle of the second rotation shaft;
- and
- a controller configured to operate the rotation driving source such that the joint resonates, and to diagnose a state of the transmission based on a value calculated by using the rotation angle obtained by the sensor in a case where the joint is resonating.
A robot apparatus comprising:
- a rotation driving source configured to drive a joint comprising a first rotation shaft and second rotation shaft;
- a transmission configured to change a rotation speed of the first rotation shaft driven by the rotation driving source to a rotation speed of the second rotation shaft;
- a sensor provided to obtain a rotation angle of the second rotation shaft;
- and
- a controller configured to operate the rotation driving source such that the joint resonates, and to diagnose a state of the transmission based on a value calculated by using the rotation angle obtained by the sensor in the case where the joint is resonating.
An article manufacturing method of manufacturing an article by using a robot apparatus:
- the robot apparatus comprising:
- a rotation driving source configured to drive a joint comprising a first rotation shaft and a second rotation shaft;
- a transmission configured to change a rotation speed of the first rotation shaft driven by the rotation driving source to a rotation speed of the second rotation shaft;
- a sensor provided to obtain a rotation angle of the second rotation shaft;
- and
- a controller, the method comprising:
- the controller operating the rotation driving source such that the joint resonates;
- and
- the controller diagnosing a state of the transmission based on a value calculated by using the rotation angle obtained by the sensor in a case where the joint is resonating.
An article manufacturing method of an article manufactured by a rotation driving apparatus, the rotation driving apparatus comprising:
- a rotation driving source configured to drive a joint comprising a first rotation shaft and a second rotation shaft;
- a transmission configured to change a rotation speed of the first rotation shaft driven by the rotation driving source to a rotation speed of the second rotation shaft;
- a sensor provided to obtain a rotation angle of the second rotation shaft;
- and
- a controller, the method comprising:
- the controller operating the rotation driving source such that the joint resonates;
- and
- the controller diagnosing a state of the transmission based on a value calculated by using the rotation angle obtained by the sensor in a case where the joint is resonating.
A controlling method of a rotation driving apparatus which comprises:
- a rotation driving source configured to drive a joint comprising a first rotation shaft and a second rotation shaft;
- a transmission configured to change a rotation speed of the first rotation shaft driven by the rotation driving source to a rotation speed of the second rotation shaft;
- and a sensor provided to obtain a rotation angle of the second rotation shaft, the controlling method comprising:
- operating the rotation driving source such that the joint resonates;
- and
- diagnosing a state of the transmission based on a value calculated by using the rotation angle obtained by the sensor in a case where the joint is resonating.
A non-transitory computer-readable storage medium storing a control program for performing a controlling method of a rotation driving apparatus which comprises:
- a rotation driving source configured to drive a joint comprising a first rotation shaft and a second rotation shaft;
- a transmission configured to change a rotation speed of the first rotation shaft driven by the rotation driving source to a rotation speed of the second rotation shaft;
- and a sensor provided to obtain a rotation angle of the second rotation shaft, the program comprising code to execute:
- operating the rotation driving source such that the joint resonates;
- and
- diagnosing a state of the transmission based on a value calculated by using the rotation angle obtained by the sensor in a case where the joint is resonating.
Dependencies are inferred from the claim text.